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cs.RO2026
Robust Verification of Controllers under State Uncertainty via Hamilton-Jacobi Reachability Analysis
Albert Lin, Alessandro Pinto, Somil Bansal
As perception-based controllers for autonomous systems become increasingly popular in the real world, it is important that we can formally verify their safety and performance despi…
cs.RO2024
One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments
Albert Lin, Shuang Peng, Somil Bansal
As learning-based methods for legged robots rapidly grow in popularity, it is important that we can provide safety assurances efficiently across different controllers and environme…
cs.RO2024
Verification of Neural Reachable Tubes via Scenario Optimization and Conformal Prediction
Albert Lin, Somil Bansal
Learning-based approaches for controlling safety-critical systems are rapidly growing in popularity; thus, it is important to assure their performance and safety. Hamilton-Jacobi (…