9 citations · 16 across the 7 of their papers we have counts for
4 papers · 1 filter
Unified Overview of Safety Certificate Functions: Techniques from Hamilton--Jacobi Reachability and Control Barrier Functions
Hao Wang, Max Cohen, Zeyuan Feng +9
Safety is a central concern in modern autonomous systems. Safety certificates---functions whose existence guarantees that a system meets its safety specification---have long been u…
Confidence-Modulated Safety Filtering for End-to-End Policies
Javier Borquez, Jaime F. Fisac
End-to-end policies, from task-specific controllers to robot foundation models, learn complex behavior from raw observations but are not guaranteed to remain safe, so they are ofte…
Timely Activation of Safety Filters via One-Step Reachability Expansion
Javier Borquez
Least-restrictive safety filters based on Hamilton-Jacobi reachability provide strong safety guarantees by overriding a nominal controller only when the system reaches the boundary…
Hamilton-Jacobi Reachability for Hybrid Systems: Unified Goal-Driven Control with Safety Guarantees
Javier Borquez, Shuang Peng, Somil Bansal
Hybrid dynamical systems provide a powerful modeling framework for robotic systems, particularly in contact-rich environments. However, ensuring safety and performance in such syst…