From the 1 of 9 linked papers with an AI index.
4 papers · 1 filter
Bellman Value Decomposition for Task Logic in Safe Optimal Control
William Sharpless, Oswin So, Dylan Hirsch +2
Real-world tasks involve nuanced combinations of goal and safety specifications. In high dimensions, the challenge is exacerbated: formal automata become cumbersome, and the combin…
Value Functions for Temporal Logic: Optimal Policies and Safety Filters
Oswin So, William Sharpless, Sylvia Herbert +1
While Bellman equations for basic reach, avoid, and reach-avoid problems are well studied, the relationship between value optimality and policy optimality becomes subtle in the und…
MADR: MPC-guided Adversarial DeepReach
Ryan Teoh, Sander Tonkens, William Sharpless +4
Hamilton-Jacobi (HJ) Reachability offers a framework for generating safe value functions and policies in the face of adversarial disturbance, but is limited by the curse of dimensi…
Reachability Barrier Networks: Learning Hamilton-Jacobi Solutions for Smooth and Flexible Control Barrier Functions
Matthew Kim, William Sharpless, Hyun Joe Jeong +3
Recent developments in autonomous driving and robotics underscore the necessity of safety-critical controllers. Control barrier functions (CBFs) are a popular method for appending…