Sampling-based Safe Reinforcement Learning for Nonlinear Dynamical Systems

1 code implementation • 6 Mar 2024 • Wesley A. Suttle, Vipul K. Sharma, Krishna C. Kosaraju, S. Sivaranjani, Ji Liu, Vijay Gupta, Brian M. Sadler

We develop provably safe and convergent reinforcement learning (RL) algorithms for control of nonlinear dynamical systems, bridging the gap between the hard safety guarantees of control theory and the convergence guarantees of RL theory.

reinforcement-learning Reinforcement Learning (RL) +1

Safe Control Design through Risk-Tunable Control Barrier Functions

no code implementations • 19 Sep 2023 • Vipul K. Sharma, S. Sivaranjani

We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment.