Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control

Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at the cost of reduced transparency and lack of guarantees on the safety or stability of the learned controllers. In recent years, new technique...

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Published in:	IEEE transactions on robotics Vol. 39; no. 3; pp. 1749 - 1767
Main Authors:	Dawson, Charles, Gao, Sicun, Fan, Chuchu
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.06.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Asymptotic stability Certificates Control systems Deep learning in robotics and automation formal methods in robotics and automation Learning theory Lyapunov methods Measurement neural certificates robot safety Robotics Robots Safety Training Trajectory Trajectory tracking
ISSN:	1552-3098, 1941-0468
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Abstract	Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at the cost of reduced transparency and lack of guarantees on the safety or stability of the learned controllers. In recent years, new techniques have emerged to provide these guarantees by learning certificates alongside control policies-these certificates provide concise data-driven proofs that guarantee the safety and stability of the learned control system. These methods not only allow the user to verify the safety of a learned controller but also provide supervision during training, allowing safety and stability requirements to influence the training process itself. In this article, we provide a comprehensive survey of this rapidly developing field of certificate learning. We hope that this article will serve as an accessible introduction to the theory and practice of certificate learning, both to those who wish to apply these tools to practical robotics problems and to those who wish to dive more deeply into the theory of learning for control.
AbstractList	Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at the cost of reduced transparency and lack of guarantees on the safety or stability of the learned controllers. In recent years, new techniques have emerged to provide these guarantees by learning certificates alongside control policies-these certificates provide concise data-driven proofs that guarantee the safety and stability of the learned control system. These methods not only allow the user to verify the safety of a learned controller but also provide supervision during training, allowing safety and stability requirements to influence the training process itself. In this article, we provide a comprehensive survey of this rapidly developing field of certificate learning. We hope that this article will serve as an accessible introduction to the theory and practice of certificate learning, both to those who wish to apply these tools to practical robotics problems and to those who wish to dive more deeply into the theory of learning for control.
Author	Dawson, Charles Gao, Sicun Fan, Chuchu
Author_xml	– sequence: 1 givenname: Charles orcidid: 0000-0002-8371-5313 surname: Dawson fullname: Dawson, Charles email: cbd@mit.edu organization: Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA – sequence: 2 givenname: Sicun surname: Gao fullname: Gao, Sicun email: sicung@ucsd.edu organization: Department of Computer Science and Engineering, University of California San Diego, La Jolla, CA, USA – sequence: 3 givenname: Chuchu orcidid: 0000-0003-4671-233X surname: Fan fullname: Fan, Chuchu email: chuchufan1990@gmail.com organization: Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA
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SubjectTerms	Asymptotic stability Certificates Control systems Deep learning in robotics and automation formal methods in robotics and automation Learning theory Lyapunov methods Measurement neural certificates robot safety Robotics Robots Safety Training Trajectory Trajectory tracking
Title	Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control
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