{"paper":{"title":"Differentiable Safe Controller Design through Control Barrier Functions","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG","cs.SY"],"primary_cat":"eess.SY","authors_text":"Rahul Mangharam, Shaoru Chen, Shuo Yang, Victor M. Preciado","submitted_at":"2022-09-20T23:03:22Z","abstract_excerpt":"Learning-based controllers, such as neural network (NN) controllers, can show high empirical performance but lack formal safety guarantees. To address this issue, control barrier functions (CBFs) have been applied as a safety filter to monitor and modify the outputs of learning-based controllers in order to guarantee the safety of the closed-loop system. However, such modification can be myopic with unpredictable long-term effects. In this work, we propose a safe-by-construction NN controller which employs differentiable CBF-based safety layers, and investigate the performance of safe-by-const"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.10034","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2209.10034/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}