Computer Science - Robotics

Value Functions Are Control Barrier Functions: Verification of Safe Policies Using Control Theory
Guaranteeing safe behaviour of reinforcement learning (RL) policies poses significant challenges for safety-critical applications, …
Daniel C. H. Tan, Fernando Acero, Robert McCarthy, Dimitrios Kanoulas, Zhibin Li
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Perceptive Locomotion with Controllable Pace and Natural Gait Transitions Over Uneven Terrains
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, …
Daniel Chee Hian Tan, Jenny Zhang, Michael, Chuah, Zhibin Li
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