Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions
Conference on Learning for Decisions and Control 2025
Dynamic Tube MPC - Learning Tube Dynamics using Massively Parallel Simulation for Robust Practical Safety
International Conference on Robotics and Automation 2025
Constructive Control of Underactuated Systems via Zero Dynamics Policies
Control and Decisions Conference 2024
Robust Agility via Learned Zero Dynamics Policies
