PECTS learns dynamics and CBFs to constrain MPC trajectories probabilistically, enabling safer RL in stochastic unknown environments via sampling-based optimization.
Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation
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A Control Barrier Function-Constrained Model Predictive Control Framework for Safe Reinforcement Learning
PECTS learns dynamics and CBFs to constrain MPC trajectories probabilistically, enabling safer RL in stochastic unknown environments via sampling-based optimization.