2 papers
cs.RO2026
Gradient-Free Neural Hamilton-Jacobi Reachability for Scalable Safety-Critical Control
Zeyuan Feng, Ali Fuat Sahin, Santiago Thorup +1
Hamilton-Jacobi (HJ) reachability provides a principled framework for synthesizing safety certificates and robust controllers for safety-critical robotic systems. However, applying…
cs.RO2026
Neural Backward Reach-Avoid Tubes with MPC Supervision for High-Dimensional Systems: An Application to Safe Spacecraft Docking
Santiago Thorup, Luca Castelletto, Zeyuan Feng +1
Autonomous spacecraft docking requires control policies that simultaneously ensure collision avoidance and target reachability under coupled, high-dimensional translational-rotatio…