A distributionally robust safety filter reduces certification for nonlinear systems under arbitrary uncertainties to a one-dimensional switching-time search with Wasserstein-inflated sampling guarantees.
Control barrier functions: Theory and applications
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Set-based safety verification with latent zonotopes achieves 5/5 collision-free passages in a 16D quadrotor task versus 1/5 for point evaluation by detecting blind spots and adapting per-head margins up to 12x.
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Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
A distributionally robust safety filter reduces certification for nonlinear systems under arbitrary uncertainties to a one-dimensional switching-time search with Wasserstein-inflated sampling guarantees.
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From Points to Sets: Set-Based Safety Verification in the Latent Space
Set-based safety verification with latent zonotopes achieves 5/5 collision-free passages in a 16D quadrotor task versus 1/5 for point evaluation by detecting blind spots and adapting per-head margins up to 12x.