UPSi integrates uncertainty from probabilistic ensemble dynamics models into predictive safety filters by formulating outcomes as reachable sets with an explicit certainty constraint for safer model-based RL exploration.
Müller, and Frank Allgöwer
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Uncertainty-Aware Predictive Safety Filters for Probabilistic Neural Network Dynamics
UPSi integrates uncertainty from probabilistic ensemble dynamics models into predictive safety filters by formulating outcomes as reachable sets with an explicit certainty constraint for safer model-based RL exploration.