Web: http://arxiv.org/abs/2209.10034

Sept. 22, 2022, 1:11 a.m. | Shuo Yang, Shaoru Chen, Victor M. Preciado, Rahul Mangharam

cs.LG updates on arXiv.org arxiv.org

Learning-based controllers, such as neural network (NN) controllers, can show
high empirical performance but lack formal safety guarantees. To address this
issue, control barrier functions (CBFs) have been applied as a safety filter to
monitor and modify the outputs of learning-based controllers in order to
guarantee the safety of the closed-loop system. However, such modification can
be myopic with unpredictable long-term effects. In this work, we propose a
safe-by-construction NN controller which employs differentiable CBF-based
safety layers, and investigate the …

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