The paper formulates a two-level optimization scheme integrating control, classical planning, and reinforcement learning to improve safety and interpretability in autonomous systems.
Safe learning for control using control lyapunov functions and control barrier functions: A review
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Mission-Aligned Learning-Informed Control of Autonomous Systems: Formulation and Foundations
The paper formulates a two-level optimization scheme integrating control, classical planning, and reinforcement learning to improve safety and interpretability in autonomous systems.