{"id":"https://openalex.org/W4382936004","doi":"https://doi.org/10.23919/acc55779.2023.10156295","title":"Data-Efficient Control Barrier Function Refinement","display_name":"Data-Efficient Control Barrier Function Refinement","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382936004","doi":"https://doi.org/10.23919/acc55779.2023.10156295"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10156295","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","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/A5012067336","display_name":"Bolun Dai","orcid":"https://orcid.org/0000-0002-7590-7980"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bolun Dai","raw_affiliation_strings":["Tandon School of Engineering, New York University,Control/Robotics Research Laboratory,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University,Control/Robotics Research Laboratory,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,11201","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091398293","display_name":"Heming Huang","orcid":"https://orcid.org/0009-0004-7563-4144"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heming Huang","raw_affiliation_strings":["Tandon School of Engineering, New York University,Control/Robotics Research Laboratory,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University,Control/Robotics Research Laboratory,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,11201","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054769060","display_name":"P. Krishnamurthy","orcid":"https://orcid.org/0000-0001-8264-7972"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prashanth Krishnamurthy","raw_affiliation_strings":["Tandon School of Engineering, New York University,Control/Robotics Research Laboratory,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University,Control/Robotics Research Laboratory,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,11201","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082413942","display_name":"Farshad Khorrami","orcid":"https://orcid.org/0000-0002-8418-004X"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Farshad Khorrami","raw_affiliation_strings":["Tandon School of Engineering, New York University,Control/Robotics Research Laboratory,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University,Control/Robotics Research Laboratory,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,11201","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7209,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.84228672,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3675","last_page":"3680"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9955999851226807,"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/computer-science","display_name":"Computer science","score":0.8209545612335205},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7760938405990601},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49962735176086426},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4608023166656494},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.45067834854125977},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4409029483795166},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4342689514160156},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.39084112644195557},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3687095642089844},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10279136896133423}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8209545612335205},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7760938405990601},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49962735176086426},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4608023166656494},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.45067834854125977},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4409029483795166},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4342689514160156},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.39084112644195557},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3687095642089844},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10279136896133423},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10156295","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320330069","display_name":"Tamkeen","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W141244604","https://openalex.org/W1522301498","https://openalex.org/W1980569135","https://openalex.org/W2004430059","https://openalex.org/W2145339207","https://openalex.org/W2166316739","https://openalex.org/W2201581102","https://openalex.org/W2798791976","https://openalex.org/W2962730452","https://openalex.org/W2963864421","https://openalex.org/W2964040381","https://openalex.org/W2968945909","https://openalex.org/W3100764036","https://openalex.org/W3119862069","https://openalex.org/W3143034939","https://openalex.org/W3185369895","https://openalex.org/W3186906797","https://openalex.org/W4281738288","https://openalex.org/W4286375138","https://openalex.org/W4287713698","https://openalex.org/W4294692105","https://openalex.org/W4315489117","https://openalex.org/W4382935831","https://openalex.org/W6631190155","https://openalex.org/W6684921986","https://openalex.org/W6687681856","https://openalex.org/W6758539823","https://openalex.org/W6780135261","https://openalex.org/W6798851443","https://openalex.org/W6840469154"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2355833770","https://openalex.org/W3031039437","https://openalex.org/W183202219","https://openalex.org/W3095877357","https://openalex.org/W2072565696","https://openalex.org/W2050451745","https://openalex.org/W2378903222"],"abstract_inverted_index":{"Control":[0],"barrier":[1],"functions":[2],"(CBFs)":[3],"have":[4],"been":[5,64],"widely":[6],"used":[7,15,151],"for":[8,54],"synthesizing":[9],"controllers":[10],"in":[11,193],"safety-critical":[12],"applications.":[13],"When":[14],"as":[16],"a":[17,20,23,34,44,68,75,84,91,106,118,138,167,172,181,196],"safety":[18],"filter,":[19],"CBF":[21,46,70,77,99,169],"provides":[22],"simple":[24],"and":[25,155],"computationally":[26],"efficient":[27],"way":[28],"to":[29,50,66,96,109,152],"obtain":[30],"safe":[31,178],"controls":[32],"from":[33,71,113,129],"possibly":[35],"unsafe":[36],"performance":[37],"controller.":[38],"Despite":[39],"its":[40],"conceptual":[41],"simplicity,":[42],"constructing":[43],"valid":[45,69,168],"is":[47,127,150,191],"well":[48],"known":[49],"be":[51],"challenging,":[52],"especially":[53],"high-relative":[55],"degree":[56],"systems":[57],"under":[58],"nonconvex":[59],"constraints.":[60],"Recently,":[61],"work":[62],"has":[63],"done":[65],"learn":[67,110,166],"data":[72,95,116,121,135,148,154],"based":[73,141],"on":[74,142,195],"handcrafted":[76],"(HCBF).":[78],"Even":[79],"though":[80],"the":[81,98,114,130,143,147,157,176],"HCBF":[82],"gives":[83],"good":[85],"initialization":[86],"point,":[87],"it":[88],"still":[89],"requires":[90],"large":[92],"amount":[93,183],"of":[94,133,146,175,184,188],"train":[97],"network.":[100],"In":[101],"this":[102],"work,":[103],"we":[104,164],"propose":[105],"new":[107],"method":[108,190],"more":[111],"efficiently":[112],"collected":[115],"through":[117],"novel":[119],"prioritized":[120],"sampling":[122],"strategy.":[123],"A":[124],"priority":[125,144],"score":[126,145],"computed":[128],"loss":[131],"value":[132],"each":[134],"point.":[136],"Then,":[137],"probability":[139],"distribution":[140],"points":[149],"sample":[153],"update":[156],"learned":[158],"CBF.":[159],"Using":[160],"our":[161,189],"proposed":[162],"approach,":[163],"can":[165],"that":[170],"recovers":[171],"larger":[173],"portion":[174],"true":[177],"set":[179],"using":[180],"smaller":[182],"data.":[185],"The":[186],"effectiveness":[187],"demonstrated":[192],"simulation":[194],"two-link":[197],"arm.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
