Robust Koopman-CBF SAC learns Koopman predictors from data, tightens lifted CBF constraints with a data-estimated residual margin, and applies a QP safety filter inside SAC, reporting zero constraint violations on CartPole while matching unconstrained returns.
Learning control barrier functions and their application in reinforcement learning: A survey,
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Robust Koopman Control Barrier Filters for Safe Actor-Critic Reinforcement Learning
Robust Koopman-CBF SAC learns Koopman predictors from data, tightens lifted CBF constraints with a data-estimated residual margin, and applies a QP safety filter inside SAC, reporting zero constraint violations on CartPole while matching unconstrained returns.