Robust Koopman-CBF SAC

Robust Koopman Control Barrier Filters for Safe Actor-Critic Reinforcement Learning

arXiv:2605.26452v2 Announce Type: replace Abstract: Safe reinforcement learning (RL) for robotic systems requires policies that improve task performance while satisfying state and input constraints during both training and deployment. Control barrier functions (CBFs) provide a principled mechanism for enforcing forward invariance through minimally invasive safety filters, but their use in model-free RL is limited by the need for accurate dynamics and hand-designed barrier certificates. We...