Learned policies with runtime Lyapunov shields achieve substantially higher communication intervals than baselines while maintaining stability on inverted pendulum, cart-pole, and quadrotor systems.
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Learning When to Act: Communication-Efficient Reinforcement Learning via Run-Time Assurance
Learned policies with runtime Lyapunov shields achieve substantially higher communication intervals than baselines while maintaining stability on inverted pendulum, cart-pole, and quadrotor systems.