DD-SRad is a new RL constraint technique that adapts per-actuator radii dynamically to achieve zero violations and unconstrained-level task performance on heterogeneous robotic joints.
Control barrier function based quadratic programs for safety critical systems
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Robust time-varying control barrier functions are derived that guarantee safety for all sector-bounded input nonlinearities via pointwise quadratic constraints and an SOCP safety filter, demonstrated on spacecraft docking.
citing papers explorer
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Constraint-Enhanced Reinforcement Learning Based on Dynamic Decoupled Spherical Radial Squashing
DD-SRad is a new RL constraint technique that adapts per-actuator radii dynamically to achieve zero violations and unconstrained-level task performance on heterogeneous robotic joints.
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Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities
Robust time-varying control barrier functions are derived that guarantee safety for all sector-bounded input nonlinearities via pointwise quadratic constraints and an SOCP safety filter, demonstrated on spacecraft docking.