4 papers
Viscosity CBFs: Bridging the Control Barrier Function and Hamilton-Jacobi Reachability Frameworks in Safe Control Theory
Dylan Hirsch, Jaime Fernández Fisac, Sylvia Herbert
Control barrier functions (CBFs) and Hamilton-Jacobi reachability (HJR) are central frameworks in safe control. Traditionally, these frameworks have been viewed as distinct, with t…
Dual-Objective Reinforcement Learning with Novel Hamilton-Jacobi-Bellman Formulations
William Sharpless, Dylan Hirsch, Sander Tonkens +2
Hard constraints in reinforcement learning (RL) often degrade policy performance. Lagrangian methods offer a way to blend objectives with constraints, but require intricate reward…
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…
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…