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cs.RO2026
Learning Control Policies to Provably Satisfy Hard Affine Constraints for Black-Box Hybrid Dynamical Systems
Aayushi Shrivastava, Kartik Nagpal, Sairam Jinkala +2
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solu…
cs.RO2025
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories
Jean-Baptiste Bouvier, Kanghyun Ryu, Kartik Nagpal +3
Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in…
cs.RO2024
POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints
Jean-Baptiste Bouvier, Kartik Nagpal, Negar Mehr
In this paper, we seek to learn a robot policy guaranteed to satisfy state constraints. To encourage constraint satisfaction, existing RL algorithms typically rely on Constrained M…