47 citations · 57 across the 14 of their papers we have counts for
6 papers · 1 filter
Learning a Better Control Barrier Function Under Uncertain Dynamics
Bolun Dai, Prashanth Krishnamurthy, Farshad Khorrami
Using control barrier functions (CBFs) as safety filters provides a computationally inexpensive yet effective method for constructing controllers in safety-critical applications. H…
Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance
Bolun Dai, Rooholla Khorrambakht, Prashanth Krishnamurthy +1
Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based metho…
Minigrid & Miniworld: Modular & Customizable Reinforcement Learning Environments for Goal-Oriented Tasks
Maxime Chevalier-Boisvert, Bolun Dai, Mark Towers +6
We present the Minigrid and Miniworld libraries which provide a suite of goal-oriented 2D and 3D environments. The libraries were explicitly created with a minimalistic design para…
State Constrained Stochastic Optimal Control for Continuous and Hybrid Dynamical Systems Using DFBSDE
Bolun Dai, Prashanth Krishnamurthy, Andrew Papanicolaou +1
We develop a computationally efficient learning-based forward-backward stochastic differential equations (FBSDE) controller for both continuous and hybrid dynamical (HD) systems su…
Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions
Bolun Dai, Rooholla Khorrambakht, Prashanth Krishnamurthy +3
Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remain…
Data-Efficient Control Barrier Function Refinement
Bolun Dai, Heming Huang, Prashanth Krishnamurthy +1
Control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, it provides a simple and computat…