Junjun Xie

CBF-Based Hierarchical Quadratic Programs with Guaranteed Feasibility for Safety-Critical Systems (I)

Control Barrier Function (CBF) based quadratic programs (QPs) have become an effective method for enforcing safety in safety-critical systems and robotics. However, these methods often suffer from infeasibility or overly conservative relaxations when handling multiple constraints, potentially compro…

Transfer Your Safety: Learning Transferable Model-Free Safety Filters from a Single Policy to Enhance Safety across Diverse Tasks

Certificated Actor-Critic: Hierarchical Reinforcement Learning with Control Barrier Functions for Safe Navigation

Control Barrier Functions (CBFs) have emerged as a prominent approach to designing safe navigation systems of robots. Despite their popularity, current CBF-based methods exhibit some limitations: optimization-based safe control techniques tend to be either myopic or computationally intensive, and th