mlsanityData to 14 Oct 2026

Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions

arXiv 2010.16001 ↗First posted 30 Oct 2020eess.SY cs.LG cs.SYcited by 33

Not on the map. Why?

Abstract (arXiv)

Modern nonlinear control theory seeks to develop feedback controllers that endow systems with properties such as safety and stability. The guarantees ensured by these controllers often rely on accurate estimates of the system state for determining control actions. In practice, measurement model uncertainty can lead to error in state estimates that degrades these guarantees. In this paper, we seek to unify techniques from control theory and machine learning to synthesize controllers that achieve safety in the presence of measurement model uncertainty. We define the notion of a Measurement-Robust Control Barrier Function (MR-CBF) as a tool for determining safe control inputs when facing measurement model uncertainty. Furthermore, MR-CBFs are used to inform sampling methodologies for learning-based perception systems and quantify tolerable error in the resulting learned models. We demonstrate the efficacy of MR-CBFs in achieving safety with measurement model uncertainty on a simulated Segway system.

Key facts. Cited by 33 papers in the map (data through 14 Oct 2026). First posted on arXiv 30 Oct 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 2; 2022: 6; 2023: 8; 2024: 3; 2025: 5; 2026: 9.

33 papers.

Sort:

By area:

  1. 2021Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learningcited by 371
  2. 2023The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systemscited by 88
  3. 2022Lyapunov Density Models: Constraining Distribution Shift in Learning-Based Controlcited by 28
  4. 2023Collaborative Multi-Object Tracking with Conformal Uncertainty Propagationcited by 27
  5. 2021Learning Robust Output Control Barrier Functions from Safe Expert Demonstrationscited by 20
  6. 2022Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theorycited by 19
  7. 2022SABLAS: Learning Safe Control for Black-box Dynamical Systemscited by 17
  8. 2023In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution Statescited by 16
  9. 2023Safe Perception-Based Control under Stochastic Sensor Uncertainty using Conformal Predictioncited by 16
  10. 2022End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functionscited by 10
  11. 2023How Safe Am I Given What I See? Calibrated Prediction of Safety Chances for Image-Controlled Autonomycited by 8
  12. 2023Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimizationcited by 7
21 more
  1. 2023System-level Safety Guard: Safe Tracking Control through Uncertain Neural Network Dynamics Modelscited by 5
  2. 2025Designing Latent Safety Filters using Pre-Trained Vision Modelscited by 5
  3. 2026Pixels to Proofs: Probabilistically-Safe Latent World Model Control via Parallel Conformal Robust MPCcited by 4
  4. 2025Conformal Safety Shielding for Imperfect-Perception Agentscited by 3
  5. 2026VISION-SLS: Safe Perception-Based Control from Learned Visual Representations via System Level Synthesiscited by 3
  6. 2022Recursively Feasible Probabilistic Safe Online Learning with Control Barrier Functionscited by 2
  7. 2023Refining Perception Contracts: Case Studies in Vision-based Safe Auto-landingcited by 1
  8. 2024Real-Time Adaptive Safety-Critical Control with Gaussian Processes in High-Order Uncertain Modelscited by 1
  9. 2024Pre-Trained Vision Models as Perception Backbones for Safety Filters in Autonomous Drivingcited by 1
  10. 2025How Safe Will I Be Given What I Saw? Calibrated Prediction of Safety Chances for Image-Controlled Autonomycited by 1
  11. 2022Certifying Safety in Reinforcement Learning under Adversarial Perturbation Attackscited by 0
  12. 2024Anytime Probabilistically Constrained Provably Convergent Online Belief Space Planningcited by 0
  13. 2025Optimal Parameter Adaptation for Safety-Critical Control via Safe Barrier Bayesian Optimizationcited by 0
  14. 2025Robust Verification of Controllers under State Uncertainty via Hamilton-Jacobi Reachability Analysiscited by 0
  15. 2026Safe Probabilistic Planning for Human-Robot Interaction using Conformal Risk Controlcited by 0
  16. 2026Runtime Safety Filtering for Learned Small UAS Separation Policies under GNSS Degradationcited by 0
  17. 2026Correcting Learning-based Perception for Safetycited by 0
  18. 2026LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentialscited by 0
  19. 2026Multi-Link Safety Filtering for VLA Policies Around Moving Hazardscited by 0
  20. 2026Latent Safety Filters: When a Lossy Encoder Admits a Transferable Certificatecited by 0
  21. 2026It Is Not Seeing the Hazard: A Frozen Vision-Language Safety Score Measures Its Caption Bankcited by 0