Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations

1 code implementation • 18 Nov 2021 • Lars Lindemann, Alexander Robey, Lejun Jiang, Satyajeet Das, Stephen Tu, Nikolai Matni

Along with the optimization problem, we provide verifiable conditions in terms of the density of the data, smoothness of the system model and state estimator, and the size of the error bounds that guarantee validity of the obtained ROCBF.

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