{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/certifiable-deep-learning-for-reachability","title":"Certifiable Reachability Learning Using a New Lipschitz Continuous Value Function","arxiv_id":"2408.07866","date":"2024-08-15","proceeding":null,"authors":["Jingqi Li","Donggun Lee","Jaewon Lee","Kris Shengjun Dong","Somayeh Sojoudi","Claire Tomlin"],"abstract":"We propose a new reachability learning framework for high-dimensional nonlinear systems, focusing on reach-avoid problems. These problems require computing the reach-avoid set, which ensures that all its elements can safely reach a target set despite disturbances within pre-specified bounds. Our framework has two main parts: offline learning of a newly designed reachavoid value function, and post-learning certification. Compared to prior work, our new value function is Lipschitz continuous and its associated Bellman operator is a contraction mapping, both of which improve the learning performance. To ensure deterministic guarantees of our learned reach-avoid set, we introduce two efficient post-learning certification methods. Both methods can be used online for real-time local certification or offline for comprehensive certification. We validate our framework in a 12-dimensional crazyflie drone racing hardware experiment and a simulated 10-dimensional highway take-over example.","url_abs":"https://arxiv.org/abs/2408.07866v5","url_pdf":"https://arxiv.org/pdf/2408.07866v5.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"certifiable-deep-learning-for-reachability","repo_url":"https://github.com/jamesjingqili/Lipschitz_Continuous_Reachability_Learning","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[],"methods":[{"method_slug":"set","method_name":"SET"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}