4 citations · 4 across the 4 of their papers we have counts for
4 papers
-Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety
Rui Chen, Shangtao Li, Yifan Sun +1
We introduce -Reachability, a scalable approach to Hamilton--Jacobi safety analysis for high-dimensional robotic systems. Unlike prior discounted formulations that rely on fixed…
Learning Safe-Stoppability Monitors for Humanoid Robots
Yifan Sun, Yiyuan Pan, Shangtao Li +4
Emergency stop (E-stop) mechanisms are the de facto standard for robot safety. However, for humanoid robots, abruptly cutting power can itself cause catastrophic failures; instead,…
Scalable Synthesis of Formally Verified Neural Value Function for Hamilton-Jacobi Reachability Analysis
Yujie Yang, Hanjiang Hu, Tianhao Wei +2
Hamilton-Jacobi (HJ) reachability analysis provides a formal method for guaranteeing safety in constrained control problems. It synthesizes a value function to represent a long-ter…
The Feasibility Theory of Constrained Reinforcement Learning: A Tutorial Study
Yujie Yang, Zhilong Zheng, Masayoshi Tomizuka +2
Satisfying safety constraints is a priority concern when solving optimal control problems (OCPs). Due to the existence of infeasibility phenomenon, where a constraint-satisfying so…