{"id":"https://openalex.org/W3130337320","doi":"https://doi.org/10.1109/iros45743.2020.9341606","title":"A Framework for Online Updates to Safe Sets for Uncertain Dynamics","display_name":"A Framework for Online Updates to Safe Sets for Uncertain Dynamics","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130337320","doi":"https://doi.org/10.1109/iros45743.2020.9341606","mag":"3130337320"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341606","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":"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/A5074004691","display_name":"Jennifer C. Shih","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jennifer C. Shih","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071976030","display_name":"Franziska Meier","orcid":"https://orcid.org/0000-0003-1640-4619"},"institutions":[{"id":"https://openalex.org/I2252078561","display_name":"Meta (Israel)","ror":"https://ror.org/02388em19","country_code":"IL","type":"company","lineage":["https://openalex.org/I2252078561","https://openalex.org/I4210114444"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Franziska Meier","raw_affiliation_strings":["Facebook AI Research"],"affiliations":[{"raw_affiliation_string":"Facebook AI Research","institution_ids":["https://openalex.org/I2252078561"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007198769","display_name":"Akshara Rai","orcid":"https://orcid.org/0009-0005-5767-9848"},"institutions":[{"id":"https://openalex.org/I2252078561","display_name":"Meta (Israel)","ror":"https://ror.org/02388em19","country_code":"IL","type":"company","lineage":["https://openalex.org/I2252078561","https://openalex.org/I4210114444"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Akshara Rai","raw_affiliation_strings":["Facebook AI Research"],"affiliations":[{"raw_affiliation_string":"Facebook AI Research","institution_ids":["https://openalex.org/I2252078561"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074004691"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.7954,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.79317679,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5994","last_page":"6001"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9962000250816345,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9962000250816345,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9944999814033508,"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/T10142","display_name":"Formal Methods in Verification","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/reachability","display_name":"Reachability","score":0.8221473097801208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7262881994247437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7261125445365906},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6352728009223938},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6094460487365723},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5936451554298401},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.473860502243042},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4395417869091034},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.23086267709732056},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10103648900985718}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8221473097801208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7262881994247437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7261125445365906},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6352728009223938},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6094460487365723},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5936451554298401},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.473860502243042},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4395417869091034},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.23086267709732056},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10103648900985718},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341606","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W168874853","https://openalex.org/W1663973292","https://openalex.org/W1983989471","https://openalex.org/W2079315820","https://openalex.org/W2116364955","https://openalex.org/W2121863487","https://openalex.org/W2149600126","https://openalex.org/W2608182344","https://openalex.org/W2618318883","https://openalex.org/W2760003929","https://openalex.org/W2781726626","https://openalex.org/W2791704483","https://openalex.org/W2892521964","https://openalex.org/W2913300629","https://openalex.org/W2937555108","https://openalex.org/W2962775887","https://openalex.org/W2962888568","https://openalex.org/W2963148914","https://openalex.org/W2963525569","https://openalex.org/W2963530790","https://openalex.org/W2963606896","https://openalex.org/W2963960193","https://openalex.org/W2964040381","https://openalex.org/W2964340170","https://openalex.org/W2966735560","https://openalex.org/W2968547875","https://openalex.org/W2968646325","https://openalex.org/W2977481643","https://openalex.org/W3011042361","https://openalex.org/W3031547186","https://openalex.org/W3104543508","https://openalex.org/W4294555834","https://openalex.org/W4294562617","https://openalex.org/W4298206671","https://openalex.org/W6606935068","https://openalex.org/W6738483526","https://openalex.org/W6747473740","https://openalex.org/W6749363318","https://openalex.org/W6751494529","https://openalex.org/W6751535212","https://openalex.org/W6758924645","https://openalex.org/W6761392374","https://openalex.org/W6768511085"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2143461633","https://openalex.org/W2889071233","https://openalex.org/W4321471459","https://openalex.org/W4221156924","https://openalex.org/W2380814829","https://openalex.org/W3213722473"],"abstract_inverted_index":{"Safety":[0],"is":[1,18],"crucial":[2],"for":[3],"deploying":[4],"robots":[5,17,133],"in":[6,77,169],"the":[7,38,46,50,64,107,170],"real":[8],"world.":[9],"One":[10],"way":[11],"of":[12,16,37,48,115,172],"reasoning":[13],"about":[14,106,137],"safety":[15],"by":[19],"building":[20],"safe":[21,28,51,74,85,95,126,145],"sets":[22,29,86],"through":[23],"Hamilton-Jacobi":[24],"(HJ)":[25],"reachability.":[26],"However,":[27],"are":[30],"often":[31],"computed":[32,53],"offline,":[33],"assuming":[34],"perfect":[35],"knowledge":[36],"dynamics,":[39,139],"due":[40],"to":[41,60,71,82,118,134,150],"high":[42],"compute":[43],"time.":[44],"In":[45],"presence":[47,171],"uncertainty,":[49],"set":[52,96],"offline":[54],"becomes":[55],"inaccurate":[56],"online,":[57],"potentially":[58],"leading":[59],"dangerous":[61],"situations":[62],"on":[63],"robot.":[65],"We":[66,90,110],"propose":[67],"a":[68,73,93,119,125,166],"novel":[69],"framework":[70,117,131],"learn":[72,136],"control":[75],"policy":[76],"simulation,":[78],"and":[79,97,142,158,160],"use":[80],"it":[81,99],"generate":[83],"online":[84,100],"under":[87],"uncertain":[88],"dynamics.":[89,109],"start":[91],"with":[92],"conservative":[94],"update":[98,143],"as":[101],"we":[102],"gather":[103],"more":[104],"information":[105],"robot":[108],"also":[111,148],"show":[112],"an":[113],"application":[114],"our":[116],"model-based":[120,127],"reinforcement":[121],"learning":[122],"problem,":[123],"proposing":[124],"RL":[128],"setup.":[129],"Our":[130],"enables":[132],"simultaneously":[135],"their":[138,144],"accomplish":[140],"tasks,":[141],"sets.":[146],"It":[147],"generalizes":[149],"complex":[151],"high-dimensional":[152],"dynamical":[153],"systems,":[154],"like":[155],"3-link":[156],"manipulators":[157],"quadrotors,":[159],"reliably":[161],"avoids":[162],"obstacles,":[163],"while":[164],"achieving":[165],"task,":[167],"even":[168],"unmodeled":[173],"noise.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
