{"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/probabilistic-safety-constraints-for-learned","title":"Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics","arxiv_id":"1912.10116","date":"2019-12-20","proceeding":"L4DC 2020 6","authors":["Mohammad Javad Khojasteh","Vikas Dhiman","Massimo Franceschetti","Nikolay Atanasov"],"abstract":"This paper focuses on learning a model of system dynamics online while satisfying safety constraints.Our motivation is to avoid offline system identification or hand-specified dynamics models and allowa system to safely and autonomously estimate and adapt its own model during online operation.Given streaming observations of the system state, we use Bayesian learning to obtain a distributionover the system dynamics. In turn, the distribution is used to optimize the system behavior andensure safety with high probability, by specifying a chance constraint over a control barrier function.","url_abs":"https://arxiv.org/abs/1912.10116v3","url_pdf":"https://arxiv.org/pdf/1912.10116v3.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":"probabilistic-safety-constraints-for-learned","repo_url":"https://github.com/wecacuee/Bayesian_CBF","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"high","task_name":"Vocal Bursts Intensity Prediction"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1912.10116","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}