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Limits of Probabilistic Safety Guarantees when Considering Human Uncertainty

Mar 25, 2021
Richard Cheng, Richard M. Murray, Joel W. Burdick

* ICRA 2021 

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Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties

Apr 11, 2020
Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick

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Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits

Mar 13, 2020
Maegan Tucker, Myra Cheng, Ellen Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames

* 8 pages, 9 figures, 2 tables, in review 

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Control Regularization for Reduced Variance Reinforcement Learning

May 14, 2019
Richard Cheng, Abhinav Verma, Gabor Orosz, Swarat Chaudhuri, Yisong Yue, Joel W. Burdick

* Appearing in ICML 2019 

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End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks

Mar 21, 2019
Richard Cheng, Gabor Orosz, Richard M. Murray, Joel W. Burdick

* Published in AAAI 2019 

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