Jake Gonzales — accepted AI-conference papers

2025

Safe Probabilistic Planning for Human-Robot Interaction using Conformal Risk Control

Jake Gonzales, Kazuki Mizuta, Karen Leung, Lillian J. Ratliff

IROS 2025

In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex human behavior. The approach uses conformal risk control to quan

Cited by 0 Source ↗code ↗Scholar ↗

2024

How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems

Oswin So, Zachary Serlin, Makai Mann, Jake Gonzales, Kwesi Rutledge, Nicholas Roy +1

ICRA 2024poster

Control barrier functions (CBFs) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to construct functions that satisfy the CBF constraints for high relative degree systems with input constraints. To address th…

Cited by 34 Source ↗Scholar ↗