mlsanityData to 7 Oct 2026

Learning Safe Neural Network Controllers with Barrier Certificates

arXiv 2009.09826 ↗First posted 18 Sep 2020eess.SY cs.AI cs.LGcited by 16

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Abstract (arXiv)

We provide a novel approach to synthesize controllers for nonlinear continuous dynamical systems with control against safety properties. The controllers are based on neural networks (NNs). To certify the safety property we utilize barrier functions, which are represented by NNs as well. We train the controller-NN and barrier-NN simultaneously, achieving a verification-in-the-loop synthesis. We provide a prototype tool nncontroller with a number of case studies. The experiment results confirm the feasibility and efficacy of our approach.

Key facts. Cited by 16 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Sep 2020.

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Citing papers per year: 2021: 3; 2022: 3; 2023: 3; 2024: 4; 2025: 3.

16 papers.

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  1. 2023SafeDiffuser: Safe Planning with Diffusion Probabilistic Modelscited by 69
  2. 2021Learning Robust Output Control Barrier Functions from Safe Expert Demonstrationscited by 19
  3. 2021BarrierNet: A Safety-Guaranteed Layer for Neural Networkscited by 11
  4. 2023Neural Abstractionscited by 11
  5. 2022Differentiable Control Barrier Functions for Vision-based End-to-End Autonomous Drivingcited by 10
  6. 2022On the Forward Invariance of Neural ODEscited by 10
  7. 2023A General Framework for Verification and Control of Dynamical Models via Certificate Synthesiscited by 6
  8. 2024Safe Reach Set Computation via Neural Barrier Certificatescited by 5
  9. 2024Certified Training with Branch-and-Bound for Lyapunov-stable Neural Controlcited by 3
  10. 2025Estimating Control Barriers from Offline Datacited by 3
  11. 2021Toward Neural-Network-Guided Program Synthesis and Verificationcited by 2
  12. 2022Ablation Study of How Run Time Assurance Impacts the Training and Performance of Reinforcement Learning Agentscited by 2
4 more
  1. 2024Myopically Verifiable Probabilistic Certificates for Safe Control and Learningcited by 1
  2. 2025Risk-Bounded Multi-Agent Visual Navigation via Iterative Risk Allocationcited by 1
  3. 2024ABNet: Attention BarrierNet for Safe and Scalable Robot Learningcited by 0
  4. 2025Safe Human Robot Navigation in Warehouse Scenariocited by 0