3 papers
eess.SY2026
Learning Safe-by-Design Neural Network Controllers
Yang Zhao, Jungeun Lee, Jeong hwan Jeon +1
Safety filters constructed from control barrier functions (CBFs) are commonly appended to pre-trained neural network controllers to enforce safety requirements. However, this decou…
cs.LG2026
CAffNet: Hard Constraint-Affine Neural Networks
Yang Zhao, Jungeun Lee, Jeong hwan Jeon +1
We present a novel framework for embedding hard constraint satisfaction into neural network (NN) architectures, specifically feedforward neural networks and transformers, with inpu…
cs.RO2016
Iterative Methods for Efficient Sampling-Based Optimal Motion Planning of Nonlinear Systems
Jung-Su Ha, Han-Lim Choi, Jeong hwan Jeon
This paper extends the RRT* algorithm, a recently developed but widely-used sampling-based optimal motion planner, in order to effectively handle nonlinear kinodynamic constraints.…