{"id":"https://openalex.org/W4413944787","doi":"https://doi.org/10.1109/icra55743.2025.11127972","title":"Exact Imposition of Safety Boundary Conditions in Neural Reachable Tubes","display_name":"Exact Imposition of Safety Boundary Conditions in Neural Reachable Tubes","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413944787","doi":"https://doi.org/10.1109/icra55743.2025.11127972"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127972","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127972","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042473920","display_name":"Aditya Singh","orcid":"https://orcid.org/0000-0003-3031-5225"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Aditya Singh","raw_affiliation_strings":["University of Southern,ECE Department,California,LA,USA"],"affiliations":[{"raw_affiliation_string":"University of Southern,ECE Department,California,LA,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101334164","display_name":"Zeyuan Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zeyuan Feng","raw_affiliation_strings":["University of Southern,ECE Department,California,LA,USA"],"affiliations":[{"raw_affiliation_string":"University of Southern,ECE Department,California,LA,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045819682","display_name":"Somil Bansal","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Somil Bansal","raw_affiliation_strings":["University of Southern,ECE Department,California,LA,USA"],"affiliations":[{"raw_affiliation_string":"University of Southern,ECE Department,California,LA,USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042473920"],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31966248,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5489","last_page":"5495"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9556000232696533,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9556000232696533,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11357","display_name":"Risk and Safety Analysis","score":0.9327999949455261,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9115999937057495,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5231872200965881},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.503684937953949},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.467142790555954},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45161181688308716},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.4233856201171875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2324431836605072},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1945127248764038},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1930338442325592}],"concepts":[{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5231872200965881},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.503684937953949},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.467142790555954},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45161181688308716},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.4233856201171875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2324431836605072},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1945127248764038},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1930338442325592},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127972","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127972","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1964345118","https://openalex.org/W1973553756","https://openalex.org/W1975236902","https://openalex.org/W2065798383","https://openalex.org/W2090501324","https://openalex.org/W2116364955","https://openalex.org/W2158985775","https://openalex.org/W2164090329","https://openalex.org/W2605995510","https://openalex.org/W2899283552","https://openalex.org/W2963395620","https://openalex.org/W2964009453","https://openalex.org/W2964040381","https://openalex.org/W3043050416","https://openalex.org/W3043383266","https://openalex.org/W3047155704","https://openalex.org/W3200673624","https://openalex.org/W3206190169","https://openalex.org/W3217139884","https://openalex.org/W4285120638","https://openalex.org/W4389961034","https://openalex.org/W4391341349","https://openalex.org/W4392004327"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2133690079"],"abstract_inverted_index":{"Hamilton-Jacobi":[0],"(HJ)":[1],"reachability":[2,200],"analysis":[3],"is":[4,93],"a":[5,23,30,58,94,124,144,162,202,212],"widely":[6],"adopted":[7],"verification":[8],"tool":[9],"to":[10,28,49,73,106,174],"provide":[11],"safety":[12,31,98,130],"and":[13,36,151,218],"performance":[14],"guarantees":[15],"for":[16,90,197],"autonomous":[17,215],"systems.":[18],"However,":[19],"it":[20],"involves":[21],"solving":[22],"partial":[24],"differential":[25],"equation":[26],"(PDE)":[27],"compute":[29],"value":[32,116,141,195],"function,":[33],"whose":[34],"computational":[35],"memory":[37],"complexity":[38],"scales":[39],"exponentially":[40],"with":[41,83,206],"the":[42,76,79,88,101,107,111,134,139,148,152,156,167,172,181,184,190,193],"state":[43,207],"dimension,":[44],"making":[45],"its":[46],"direct":[47],"application":[48],"large-scale":[50],"systems":[51],"intractable.":[52],"To":[53],"overcome":[54],"these":[55],"challenges,":[56],"DeepReach,":[57],"recently":[59],"proposed":[60,157,185],"learning-based":[61],"approach,":[62],"approximates":[63],"high-dimensional":[64],"reachable":[65],"tubes":[66],"using":[67],"neural":[68],"networks":[69],"(NNs).":[70],"While":[71],"shown":[72],"be":[74],"effective,":[75],"accuracy":[77,191],"of":[78,87,97,110,126,147,183,192],"learned":[80,194],"solution":[81],"decreases":[82],"system":[84,205],"complexity.":[85],"One":[86],"reasons":[89],"this":[91,119],"degradation":[92],"soft":[95],"imposition":[96],"constraints":[99,131],"during":[100,133,166],"learning":[102,135],"process,":[103,169],"which":[104],"corresponds":[105],"boundary":[108,149,163],"conditions":[109],"PDE,":[112],"resulting":[113],"in":[114,187,211],"inaccurate":[115],"functions.":[117],"In":[118],"work,":[120],"we":[121],"propose":[122],"ExactBC,":[123],"variant":[125,158],"DeepReach":[127],"that":[128],"imposes":[129],"exactly":[132],"process":[136],"by":[137],"restructuring":[138],"overall":[140],"function":[142,196],"as":[143],"weighted":[145],"sum":[146],"condition":[150],"NN":[153],"output.":[154],"Moreover,":[155],"no":[159],"longer":[160],"needs":[161],"loss":[164,177],"term":[165],"training":[168],"thus":[170],"eliminating":[171],"need":[173],"balance":[175],"different":[176],"terms.":[178],"We":[179],"demonstrate":[180],"efficacy":[182],"approach":[186],"significantly":[188],"improving":[189],"four":[198],"challenging":[199],"tasks:":[201],"rimless":[203],"wheel":[204],"resets,":[208],"collision":[209,220],"avoidance":[210],"cluttered":[213],"environment,":[214],"rocket":[216],"landing,":[217],"multi-aircraft":[219],"avoidance.":[221]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}