A modular belief-space controller using learned Belief Control Lyapunov Functions for information gathering and conformal-prediction Belief Control Barrier Functions for safety reduces reach-avoid POMDP synthesis to fast quadratic programs.
Anysafe: Adapting latent safety filters at runtime via safety constraint parameter- ization in the latent space
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A literature survey summarizing modeling, state estimation, control methods, applications, and open challenges for legged robots operating in non-inertial environments where the ground moves or accelerates.
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Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control
A modular belief-space controller using learned Belief Control Lyapunov Functions for information gathering and conformal-prediction Belief Control Barrier Functions for safety reduces reach-avoid POMDP synthesis to fast quadratic programs.
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A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
A literature survey summarizing modeling, state estimation, control methods, applications, and open challenges for legged robots operating in non-inertial environments where the ground moves or accelerates.