PECTS learns dynamics and CBFs to constrain MPC trajectories probabilistically, enabling safer RL in stochastic unknown environments via sampling-based optimization.
Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions
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A Control Barrier Function-Constrained Model Predictive Control Framework for Safe Reinforcement Learning
PECTS learns dynamics and CBFs to constrain MPC trajectories probabilistically, enabling safer RL in stochastic unknown environments via sampling-based optimization.