Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety

Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai, Andrew J. Taylor, Aaron D. Ames

Abstract: This paper combines episodic learning and control barrier functions (CBFs) in the setting of bipedal locomotion. The safety guarantees that CBFs provide are only valid with perfect model knowledge;...