6 papers
Periodicity-driven revision of the phase diagram of the generalized Baxter-Wu model with asymmetric complex couplings
Yuting Wang, Ye Ling, Haihong Li +1
The conventional self-dual lines of the generalized Baxter-Wu (GBW) model with asymmetric complex couplings are known to be , where and are the real…
Characterization and Analysis of Emergency Landing Flight Envelopes with Graded Safety Specifications
Chams Eddine Mballo, Bryce L. Ferguson, Inkyu Jang +2
Emergency landing flight envelope analysis traditionally adopts a binary notion of safety, whereby a trajectory is safe only if state constraints are satisfied pointwise in time. I…
EigenSafe: A Spectral Framework for Learning-Based Probabilistic Safety Assessment
Inkyu Jang, Jonghae Park, Sihyun Cho +3
We present EigenSafe, an operator-theoretic framework for safety assessment of learning-enabled stochastic systems. In many robotic applications, the dynamics are inherently stocha…
Periodic Skill Discovery
Jonghae Park, Daesol Cho, Jusuk Lee +3
Unsupervised skill discovery in reinforcement learning (RL) aims to learn diverse behaviors without relying on external rewards. However, current methods often overlook the periodi…
Invariance Guarantees using Continuously Parametrized Control Barrier Functions
Inkyu Jang, H. Jin Kim
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be diff…
Enhancing Feature Tracking Reliability for Visual Navigation using Real-Time Safety Filter
Dabin Kim, Inkyu Jang, Youngsoo Han +2
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailabl…