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Control Meets Learning Seminar

Wednesday, November 25, 2020
9:00am to 10:00am
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Online Event
Safe Learning in Robotics
Claire Tomlin, Professor, Electrical Engineering and Computer Sciences, University of California Berkley,

In many applications of robot learning, guarantees that specifications are satisfied throughout the learning process are paramount. For the safety specification, we present a controller synthesis technique based on the computation of reachable sets, using optimal control and game theory. We present new methods for computing the reachable set, based on a functional approximation which has the potential to broadly alleviate its computational complexity. In the second part of the talk, we will present a toolbox of methods combining reachability with data-driven techniques, to enable performance improvement while maintaining safety. We will illustrate these "safe learning" methods on robotic platforms at Berkeley, including demonstrations of motion planning around people, and navigating in a priori unknown environments.

For more information, please contact Jolene Brink by phone at 6263952813 or by email at jbrink@caltech.edu or visit Control Meets Learning Website.