Control Meets Learning Seminar

Wednesday November 25, 2020 9:00 AM

Safe Learning in Robotics

Speaker: Claire Tomlin, Electrical Engineering and Computer Sciences, University of California Berkley
Location: Online Event

In many applications of robot learning, guarantees that specifications are satisfied throughout the learning process are paramount. For the safety specification, we present a controller synthesis technique based on the computation of reachable sets, using optimal control and game theory. We present new methods for computing the reachable set, based on a functional approximation which has the potential to broadly alleviate its computational complexity. In the second part of the talk, we will present a toolbox of methods combining reachability with data-driven techniques, to enable performance improvement while maintaining safety. We will illustrate these "safe learning" methods on robotic platforms at Berkeley, including demonstrations of motion planning around people, and navigating in a priori unknown environments.

Contact: Jolene Brink at 6263952813 jbrink@caltech.edu
For more information visit: https://sites.google.com/view/control-meets-learning