mlsanityData to 7 Oct 2026

Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

arXiv 2004.07584 ↗First posted 16 Apr 2020eess.SY cs.LG cs.ROcited by 61

Not on the map. Why?

Abstract (arXiv)

In this paper, the issue of model uncertainty in safety-critical control is addressed with a data-driven approach. For this purpose, we utilize the structure of an input-ouput linearization controller based on a nominal model along with a Control Barrier Function and Control Lyapunov Function based Quadratic Program (CBF-CLF-QP). Specifically, we propose a novel reinforcement learning framework which learns the model uncertainty present in the CBF and CLF constraints, as well as other control-affine dynamic constraints in the quadratic program. The trained policy is combined with the nominal model-based CBF-CLF-QP, resulting in the Reinforcement Learning-based CBF-CLF-QP (RL-CBF-CLF-QP), which addresses the problem of model uncertainty in the safety constraints. The performance of the proposed method is validated by testing it on an underactuated nonlinear bipedal robot walking on randomly spaced stepping stones with one step preview, obtaining stable and safe walking under model uncertainty.

Key facts. Cited by 61 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Apr 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 16; 2022: 12; 2023: 14; 2024: 11; 2025: 3; 2026: 5.

61 papers.

Sort:

By area:

  1. 2021Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learningcited by 337
  2. 2022A Review of Safe Reinforcement Learning: Methods, Theory and Applicationscited by 169
  3. 2021Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificatescited by 71
  4. 2024Safe Offline Reinforcement Learning with Feasibility-Guided Diffusion Modelcited by 62
  5. 2022Enforcing Hard Constraints with Soft Barriers: Safe Reinforcement Learning in Unknown Stochastic Environmentscited by 54
  6. 2021Safe Reinforcement Learning Using Robust Control Barrier Functionscited by 44
  7. 2021Safe Pontryagin Differentiable Programmingcited by 25
  8. 2023A Survey on Physics Informed Reinforcement Learning: Review and Open Problemscited by 22
  9. 2023Neural Lyapunov Control for Discrete-Time Systemscited by 21
  10. 2021Recurrent Neural Network Controllers Synthesis with Stability Guarantees for Partially Observed Systemscited by 15
  11. 2024Formally Verifying Deep Reinforcement Learning Controllers with Lyapunov Barrier Certificatescited by 15
  12. 2021Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertaintycited by 13
38 more
  1. 2021BarrierNet: A Safety-Guaranteed Layer for Neural Networkscited by 11
  2. 2023Stable and Safe Reinforcement Learning via a Barrier-Lyapunov Actor-Critic Approachcited by 11
  3. 2021Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachabilitycited by 10
  4. 2022Differentiable Control Barrier Functions for Vision-based End-to-End Autonomous Drivingcited by 10
  5. 2024RACER: Epistemic Risk-Sensitive RL Enables Fast Driving with Fewer Crashescited by 10
  6. 2023Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functionscited by 9
  7. 2023State-Wise Safe Reinforcement Learning With Pixel Observationscited by 9
  8. 2021RMP2: A Structured Composable Policy Class for Robot Learningcited by 8
  9. 2022Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environmentscited by 8
  10. 2023Constrained Meta-Reinforcement Learning for Adaptable Safety Guarantee with Differentiable Convex Programmingcited by 8
  11. 2024Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanescited by 8
  12. 2022Model-Free Reinforcement Learning for Symbolic Automata-encoded Objectivescited by 6
  13. 2023Guaranteeing Control Requirements via Reward Shaping in Reinforcement Learningcited by 5
  14. 2024Critic as Lyapunov function (CALF): a model-free, stability-ensuring agentcited by 4
  15. 2021Model Free Barrier Functions via Implicit Evading Maneuverscited by 3
  16. 2021Learning Contraction Policies from Offline Datacited by 3
  17. 2022Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Modelscited by 3
  18. 2022Safe Inverse Reinforcement Learning via Control Barrier Functioncited by 3
  19. 2023On the Optimality, Stability, and Feasibility of Control Barrier Functions: An Adaptive Learning-Based Approachcited by 3
  20. 2023Learning Adaptive Safety for Multi-Agent Systemscited by 3
  21. 2024Policy Verification in Stochastic Dynamical Systems Using Logarithmic Neural Certificatescited by 3
  22. 2024FOSP: Fine-tuning Offline Safe Policy through World Modelscited by 3
  23. 2024Towards Fast Safe Online Reinforcement Learning via Policy Finetuningcited by 3
  24. 2022Recursively Feasible Probabilistic Safe Online Learning with Control Barrier Functionscited by 2
  25. 2023Meta-Learning-Based Adaptive Stability Certificates for Dynamical Systemscited by 2
  26. 2024Decomposing Control Lyapunov Functions for Efficient Reinforcement Learningcited by 2
  27. 2025Survey and Tutorial of Reinforcement Learning Methods in Process Systems Engineeringcited by 2
  28. 2021Safety-Critical Learning of Robot Control with Temporal Logic Specificationscited by 1
  29. 2022Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier Functionscited by 1
  30. 2022Safe Reinforcement Learning with Probabilistic Control Barrier Functions for Ramp Mergingcited by 1
  31. 2023Avoidance Navigation Based on Offline Pre-Training Reinforcement Learningcited by 1
  32. 2023Distributionally Safe Reinforcement Learning under Model Uncertainty: A Single-Level Approach by Differentiable Convex Programmingcited by 1
  33. 2024Robust Model Based Reinforcement Learning Using L1 Adaptive Controlcited by 1
  34. 2025Accelerated Learning with Linear Temporal Logic using Differentiable Simulationcited by 1
  35. 2026Dyna-Style Safety Augmented Reinforcement Learning: Staying Safe in the Face of Uncertaintycited by 1
  36. 2021Safe Learning of Uncertain Environmentscited by 0
  37. 2021Learning Safety Filters for Unknown Discrete-Time Linear Systemscited by 0
  38. 2021Safe Reinforcement Learning for Grid Voltage Controlcited by 0

50 most cited of 61 All 61 (JSON)