Safe Neural Control for Non-Affine Control Systems with Differentiable Control Barrier Functions

no code implementations • 6 Sep 2023 • Wei Xiao, Ross Allen, Daniela Rus

To address these challenges, we incorporate higher-order CBFs into neural ordinary differential equation-based learning models as differentiable CBFs to guarantee safety for non-affine control systems.

Autonomous Driving Imitation Learning

Learned Risk Metric Maps for Kinodynamic Systems

1 code implementation • 28 Feb 2023 • Ross Allen, Wei Xiao, Daniela Rus

We present Learned Risk Metric Maps (LRMM) for real-time estimation of coherent risk metrics of high dimensional dynamical systems operating in unstructured, partially observed environments.

Learning Emergent Discrete Message Communication for Cooperative Reinforcement Learning

no code implementations • 24 Feb 2021 • Sheng Li, Yutai Zhou, Ross Allen, Mykel J. Kochenderfer

Communication is a important factor that enables agents work cooperatively in multi-agent reinforcement learning (MARL).

Multi-agent Reinforcement Learning reinforcement-learning +1

Deep Implicit Coordination Graphs for Multi-agent Reinforcement Learning

1 code implementation • 19 Jun 2020 • Sheng Li, Jayesh K. Gupta, Peter Morales, Ross Allen, Mykel J. Kochenderfer

Coordination graph based formalization allows reasoning about the joint action based on the structure of interactions.

reinforcement-learning Reinforcement Learning (RL) +3