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eess.SY2026
Forward-Invariant Policy Classes for Safe Reinforcement Learning in Multicopter Control
Chieh Tsai, Muhammad Junayed Hasan Zahed, Jinzhi Shen +5
This paper proposes a reinforcement learning (RL) framework for safe gain scheduling based on forwardinvariance-induced action-space design. Under stated nominalmodel and inversion…
eess.SY2026
Learning over Forward-Invariant Policy Classes: Reinforcement Learning without Safety Concerns
Chieh Tsai, Muhammad Junayed Hasan Zahed, Salim Hariri +1
This paper proposes a safe reinforcement learning (RL) framework based on forward-invariance-induced action-space design. The control problem is cast as a Markov decision process,…