Synthesize Efficient Safety Certificates for Learning-Based Safe Control using Magnitude Regularization
Haotian Zheng,Haitong Ma,Sifa Zheng,Shengbo Eben Li,Jianqiang Wang,Haotian Zheng,Haitong Ma,Sifa Zheng,Shengbo Eben Li,Jianqiang Wang
Safety certificates based on energy functions can provide demonstrable safety for complex robotic systems. However, all recent studies on learning-based energy function synthesis only consider the feasibility of the control policy, which might cause over-conservativeness and even fail to achieve the control goal. To solve the problem of over-conservative controllers, we proposed the magnitude regu...
