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eess.SY2025
The First Open-Source Framework for Learning Stability Certificates from Data
Zhe Shen
Before 2025, no open-source system existed that could learn Lyapunov stability certificates directly from noisy, real-world flight data. This work addresses that gap by proposing a…
eess.SY2025
Towards Data-Driven Model-Free Safety-Critical Control
Zhe Shen, Yitaek Kim, Christoffer Sloth
This paper presents a framework for enabling safe velocity control of general robotic systems using data-driven model-free Control Barrier Functions (CBFs). Model-free CBFs rely on…