3 papers
eess.SY2026
Synthesis and Deployment of Maximal Robust Control Barrier Functions through Adversarial Reinforcement Learning
Donggeon David Oh, Duy P. Nguyen, Haimin Hu +1
Robust control barrier functions (CBFs) provide a principled mechanism for smooth safety enforcement under worst-case disturbances. However, existing approaches typically rely on e…
cs.LG2026
Provably Optimal Reinforcement Learning under Safety Filtering
Donggeon David Oh, Duy P. Nguyen, Haimin Hu +1
Recent advances in reinforcement learning (RL) enable its use on increasingly complex tasks, but the lack of formal safety guarantees still limits its application in safety-critica…
cs.RO2025
Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports
Donggeon David Oh, Justin Lidard, Haimin Hu +8
We propose a human-centered safety filter (HCSF) for shared autonomy that significantly enhances system safety without compromising human agency. Our HCSF is built on a neural safe…