{"id":"https://openalex.org/W3008689912","doi":"https://doi.org/10.1109/iros45743.2020.9341315","title":"Safety Considerations in Deep Control Policies with Safety Barrier Certificates Under Uncertainty","display_name":"Safety Considerations in Deep Control Policies with Safety Barrier Certificates Under Uncertainty","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3008689912","doi":"https://doi.org/10.1109/iros45743.2020.9341315","mag":"3008689912"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341315","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2001.08198","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013393308","display_name":"Tom Hirshberg","orcid":null},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Tom Hirshberg","raw_affiliation_strings":["Technion - Israel Institute of Technology, Haifa, Israel","Technion - Israel Institute of Technology,CS Department,Haifa,Israel"],"affiliations":[{"raw_affiliation_string":"Technion - Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]},{"raw_affiliation_string":"Technion - Israel Institute of Technology,CS Department,Haifa,Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050296324","display_name":"Sai Vemprala","orcid":"https://orcid.org/0000-0001-7554-5417"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sai Vemprala","raw_affiliation_strings":["Microsoft Corporation, Redmond, WA","Microsoft Corporation, Redmond, WA;;"],"affiliations":[{"raw_affiliation_string":"Microsoft Corporation, Redmond, WA","institution_ids":["https://openalex.org/I1290206253"]},{"raw_affiliation_string":"Microsoft Corporation, Redmond, WA;;","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101933711","display_name":"Ashish Kapoor","orcid":"https://orcid.org/0009-0004-3764-8449"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashish Kapoor","raw_affiliation_strings":["Microsoft Corporation, Redmond, WA","Microsoft Corporation, Redmond, WA;;"],"affiliations":[{"raw_affiliation_string":"Microsoft Corporation, Redmond, WA","institution_ids":["https://openalex.org/I1290206253"]},{"raw_affiliation_string":"Microsoft Corporation, Redmond, WA;;","institution_ids":["https://openalex.org/I1290206253"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5013393308"],"corresponding_institution_ids":["https://openalex.org/I174306211"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02078669,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6245","last_page":"6251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9861999750137329,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6453938484191895},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.5944388508796692},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5899329781532288},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.5187547206878662},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4800913631916046},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.47551968693733215},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4681903123855591},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46786096692085266},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.4645606577396393},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4538678824901581},{"id":"https://openalex.org/keywords/risk-analysis","display_name":"Risk analysis (engineering)","score":0.3231236934661865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11858260631561279}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6453938484191895},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.5944388508796692},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5899329781532288},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.5187547206878662},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4800913631916046},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.47551968693733215},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4681903123855591},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46786096692085266},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.4645606577396393},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4538678824901581},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.3231236934661865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11858260631561279},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341315","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2001.08198","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.08198","pdf_url":"https://arxiv.org/pdf/2001.08198","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3008689912","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2001.08198","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2001.08198","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2001.08198","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2001.08198","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.08198","pdf_url":"https://arxiv.org/pdf/2001.08198","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307764","display_name":"Microsoft","ror":"https://ror.org/00d0nc645"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3008689912.pdf","grobid_xml":"https://content.openalex.org/works/W3008689912.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1840625103","https://openalex.org/W2173248099","https://openalex.org/W2470448410","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2589869525","https://openalex.org/W2594877703","https://openalex.org/W2604410735","https://openalex.org/W2607968634","https://openalex.org/W2615547864","https://openalex.org/W2806163172","https://openalex.org/W2889490035","https://openalex.org/W2889711700","https://openalex.org/W2901402208","https://openalex.org/W2902855213","https://openalex.org/W2923132828","https://openalex.org/W2941458843","https://openalex.org/W2951930445","https://openalex.org/W2956608979","https://openalex.org/W2962803570","https://openalex.org/W2962865553","https://openalex.org/W2963821151","https://openalex.org/W2963821308","https://openalex.org/W2966735560","https://openalex.org/W2967464230","https://openalex.org/W2968547875","https://openalex.org/W2968945909","https://openalex.org/W2970787054","https://openalex.org/W2972396961","https://openalex.org/W2986399309","https://openalex.org/W3009411535","https://openalex.org/W3011042361","https://openalex.org/W3098016199","https://openalex.org/W3098925401","https://openalex.org/W3104013016","https://openalex.org/W3109541805","https://openalex.org/W6684921986","https://openalex.org/W6733864409","https://openalex.org/W6734921443","https://openalex.org/W6737893269","https://openalex.org/W6752941136","https://openalex.org/W6760359693","https://openalex.org/W6760757228","https://openalex.org/W6767946192","https://openalex.org/W6770012831"],"related_works":["https://openalex.org/W3129808907","https://openalex.org/W3132737487","https://openalex.org/W3039045514","https://openalex.org/W3014142920","https://openalex.org/W3205951249","https://openalex.org/W3163219368","https://openalex.org/W2894033912","https://openalex.org/W2949893390","https://openalex.org/W2744183163","https://openalex.org/W2268946161","https://openalex.org/W2969721933","https://openalex.org/W3091816902","https://openalex.org/W3112951354","https://openalex.org/W193415179","https://openalex.org/W1979957085","https://openalex.org/W2530849036","https://openalex.org/W2951018963","https://openalex.org/W2900938420","https://openalex.org/W2181995054","https://openalex.org/W2251104438"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,9,45,58,172,191,225,227,237],"Deep":[3],"Machine":[4],"Learning":[5],"have":[6],"shown":[7],"promise":[8],"solving":[10],"complex":[11],"perception":[12,102],"and":[13,21,43,103,115,131,138,163,216,231],"control":[14,95,129,149,156,252],"loops":[15],"via":[16],"methods":[17],"such":[18,28,39],"as":[19,40],"reinforcement":[20],"imitation":[22,248],"learning.":[23],"However,":[24],"guaranteeing":[25],"safety":[26,71,92,176,213],"for":[27,108],"learned":[29],"deep":[30,94,128],"policies":[31,96],"has":[32,61,117],"been":[33,62],"a":[34,54,118,228,242],"challenge":[35],"due":[36,100],"to":[37,69,90,101,152,170,181,187,210,217,241,250],"issues":[38],"partial":[41],"observability":[42],"difficulties":[44],"characterizing":[46],"the":[47,50,111,121,140,143,165,175,184,192,197,212],"behavior":[48],"of":[49,56,155,174,196,214],"neural":[51],"networks.":[52],"While":[53],"lot":[55],"emphasis":[57],"safe":[59,133,160,193],"learning":[60,249],"placed":[63],"during":[64],"training,":[65],"it":[66],"is":[67],"non-trivial":[68],"guarantee":[70,91,218],"at":[72],"deployment":[73],"or":[74],"test":[75],"time.":[76],"This":[77],"paper":[78],"extends":[79],"how":[80],"under":[81,161],"mild":[82],"assumptions,":[83],"Safety":[84],"Barrier":[85],"Certificates":[86],"can":[87],"be":[88,171],"used":[89,209],"with":[93],"despite":[97],"uncertainty":[98,116],"arising":[99],"other":[104],"latent":[105],"variables.":[106],"Specifically":[107],"scenarios":[109],"where":[110],"dynamics":[112],"are":[113,159,168,199,207],"smooth":[114],"finite":[119],"support,":[120],"proposed":[122],"framework":[123,147],"wraps":[124],"around":[125],"an":[126],"existing":[127],"policy":[130,141],"generates":[132],"actions":[134,157,167,186,215,239],"by":[135],"dynamically":[136],"evaluating":[137],"modifying":[139],"from":[142],"embedded":[144],"network.":[145],"Our":[146],"utilizes":[148],"barrier":[150],"functions":[151],"create":[153],"spaces":[154],"that":[158,206,233,244],"uncertainty,":[162],"when":[164],"original":[166,185],"found":[169],"violation":[173],"constraint,":[177],"uses":[178],"quadratic":[179],"programming":[180],"minimally":[182],"modify":[183],"ensure":[188],"they":[189],"lie":[190],"set.":[194],"Representations":[195],"environment":[198,230],"built":[200],"through":[201],"Euclidean":[202],"signed":[203],"distance":[204],"fields":[205],"then":[208],"infer":[211],"forward":[219],"invariance.":[220],"We":[221],"implement":[222],"this":[223],"method":[224,235],"simulation":[226],"drone-racing":[229],"show":[232],"our":[234],"results":[236],"safer":[238],"compared":[240],"baseline":[243],"only":[245],"relies":[246],"on":[247],"generate":[251],"actions.":[253]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
