3 papers
math.OC2026
Verifiable Model-Free Safety Filters via Reinforcement Learning
Bihui Yin, Yiwen Lu, Yuchen Jiang +1
This paper presents a reinforcement learning approach of a model-free safety filter, drawing inspiration from the framework of model-based Predictive Safety Filters (PSFs). Similar…
cs.RO2025
Learning to Drift with Individual Wheel Drive: Maneuvering Autonomous Vehicle at the Handling Limits
Yihan Zhou, Yiwen Lu, Bo Yang +2
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement…
math.OC2025
Almost Surely Regret for Adaptive LQR
Yiwen Lu, Yilin Mo
The Linear-Quadratic Regulation (LQR) problem with unknown system parameters has been widely studied, but it has remained unclear whether regret, w…