7 papers
Neural Backward Reach-Avoid Tubes with MPC Supervision for High-Dimensional Systems: An Application to Safe Spacecraft Docking
Santiago Thorup, Luca Castelletto, Zeyuan Feng +1
Autonomous spacecraft docking requires control policies that simultaneously ensure collision avoidance and target reachability under coupled, high-dimensional translational-rotatio…
From Words to Safety: Language-Conditioned Safety Filtering for Robot Navigation
Zeyuan Feng, Haimingyue Zhang, Somil Bansal
As robots become increasingly integrated into open-world, human-centered environments, their ability to interpret natural language instructions and adhere to safety constraints is…
Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators
Kaustav Chakraborty, Zeyuan Feng, Sushant Veer +6
The advent of end-to-end autonomy stacks - often lacking interpretable intermediate modules - has placed an increased burden on ensuring that the final output, i.e., the motion pla…
Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis
Zeyuan Feng, Le Qiu, Somil Bansal
Hamilton-Jacobi (HJ) reachability analysis is a widely used method for ensuring the safety of robotic systems. Traditional approaches compute reachable sets by numerically solving…
Linear Supervision for Nonlinear, High-Dimensional Neural Control and Differential Games
William Sharpless, Zeyuan Feng, Somil Bansal +1
As the dimension of a system increases, traditional methods for control and differential games rapidly become intractable, making the design of safe autonomous agents challenging i…
Reachability Analysis for Black-Box Dynamical Systems
Vamsi Krishna Chilakamarri, Zeyuan Feng, Somil Bansal
Hamilton-Jacobi (HJ) reachability analysis is a powerful framework for ensuring safety and performance in autonomous systems. However, existing methods typically rely on a white-bo…