3 papers
cs.RO2026
Robust Koopman Control Barrier Filters for Safe Actor-Critic Reinforcement Learning
Dhruv S. Kushwaha, Zoleikha A. Biron
Safe reinforcement learning (RL) for robotic systems requires policies that improve task performance while satisfying state and input constraints during both training and deploymen…
eess.SY2026
LC-SAC: Lyapunov-Constrained Soft Actor-Critic via Koopman Operator Theory for Trajectory Tracking and Stabilization
Dhruv S. Kushwaha, Zoleikha A. Biron
Reinforcement Learning (RL) has achieved remarkable success in solving complex sequential decision-making problems. However, its application to safety-critical physical systems rem…
eess.SY2026
A Review On Safe Reinforcement Learning Using Lyapunov and Barrier Functions
Dhruv Singh Kushwaha, Zoleikha Abdollahi Biron
Reinforcement learning (RL) has proven to be particularly effective in solving complex decision-making problems for a wide range of applications. Safe reinforcement learning refers…