{"paper":{"title":"Data-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Christopher A. Strong, Claire J. Tomlin, Jason J. Choi, Koushil Sreenath, Namhoon Cho","submitted_at":"2025-04-04T07:29:11Z","abstract_excerpt":"In continuous-time optimal control, evaluating the Hamiltonian requires solving a constrained optimization problem using the system's dynamics model. Hamilton-Jacobi reachability analysis for safety verification has demonstrated practical utility only when efficient evaluation of the Hamiltonian over a large state-time grid is possible. In this study, we introduce the concept of a data-driven Hamiltonian (DDH), which circumvents the need for an explicit dynamics model by relying only on mild prior knowledge (e.g., Lipschitz constants), thus enabling the construction of reachable sets directly "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.03233","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2504.03233/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}