Sylvia L. Herbert

92 papers A* 8A 3C 2Journal 60Unranked 18

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Bellman Value Decomposition for Task Logic in Safe Optimal Control. CoRR Will Sharpless, Oswin So, Dylan Hirsch, Sylvia L. Herbert, Chuchu Fan
2026	J	`jnl`	Haptic Virtual Fixtures for Telemanipulation Using Control Barrier Functions. IEEE Trans. Haptics Robert Bloom, Dylan Hirsch, Sylvia L. Herbert, Tania K. Morimoto
2026	J	`jnl`	Learning to Nudge: A Scalable Barrier Function Framework for Safe Robot Interaction in Dense Clutter. CoRR Haixin Jin, Nikhil Uday Shinde, Soofiyan Atar, Hongzhan Yu, Dylan Hirsch, Sicun Gao, Michael C. Yip, Sylvia L. Herbert
2026	J	`jnl`	Refining Almost-Safe Value Functions on the Fly. CoRR Sander Tonkens, Sosuke Kojima, Chenhao Liu, Judy Masri, Sylvia L. Herbert
2026	J	`jnl`	Safe Stochastic Explorer: Enabling Safe Goal Driven Exploration in Stochastic Environments and Safe Interaction with Unknown Objects. CoRR Nikhil Uday Shinde, Dylan Hirsch, Michael C. Yip, Sylvia L. Herbert
2026	J	`jnl`	Sensor-based distributionally robust control for safe robot navigation in dynamic environments. Int. J. Robotics Res. Kehan Long, Yinzhuang Yi, Zhirui Dai, Sylvia L. Herbert, Jorge Cortés, Nikolay Atanasov
2025	—	`conf`	Approximate Hamilton-Jacobi Reachability Analysis for a Class of Two-Timescale Systems, with Application to Biological Models. CDC Dylan Hirsch, Sylvia L. Herbert
2025	J	`jnl`	Approximate Hamilton-Jacobi Reachability Analysis for a Class of Two-Timescale Systems, with Application to Biological Models. CoRR Dylan Hirsch, Sylvia L. Herbert
2025	—	`conf`	Back to Base: Towards Hands-Off Learning via Safe Resets with Reach-Avoid Safety Filters. L4DC Azra Begzadic, Nikhil Shinde, Sander Tonkens, Dylan Hirsch, Kaleb Ugalde, Michael C. Yip, Jorge Cortés, Sylvia L. Herbert
2025	J	`jnl`	Back to Base: Towards Hands-Off Learning via Safe Resets with Reach-Avoid Safety Filters. CoRR Azra Begzadic, Nikhil Uday Shinde, Sander Tonkens, Dylan Hirsch, Kaleb Ugalde, Michael C. Yip, Jorge Cortés, Sylvia L. Herbert
2025	J	`jnl`	Control of Subpopulation Fractions in a Population of Bistable Cells. IEEE Control. Syst. Lett. Dylan Hirsch, Sylvia L. Herbert
2025	J	`jnl`	Dual-Objective Reinforcement Learning with Novel Hamilton-Jacobi-Bellman Formulations. CoRR Will Sharpless, Dylan Hirsch, Sander Tonkens, Nikhil Shinde, Sylvia L. Herbert
2025	J	`jnl`	Editorial. Int. J. Robotics Res. Kostas E. Bekris, Kris Hauser, Sylvia L. Herbert, Jingjin Yu
2025	J	`jnl`	From Space to Time: Enabling Adaptive Safety with Learned Value Functions via Disturbance Recasting. CoRR Sander Tonkens, Nikhil Uday Shinde, Azra Begzadic, Michael C. Yip, Jorge Cortés, Sylvia L. Herbert
2025	—	`conf`	Learning High-Order CBFs using Gaussian processes for systems in Brunovský canonical form. CDC Azra Begzadic, Armin Lederer, Jorge Cortés, Sylvia L. Herbert
2025	—	`conf`	Linear Supervision for Nonlinear, High-Dimensional Neural Control and Differential Games. L4DC Will Sharpless, Zeyuan Feng, Somil Bansal, Sylvia L. Herbert
2025	J	`jnl`	MADR: MPC-guided Adversarial DeepReach. CoRR Ryan Teoh, Sander Tonkens, Will Sharpless, Aijia Yang, Zeyuan Feng, Somil Bansal, Sylvia L. Herbert
2025	—	`conf`	Reach-Avoid-Stabilize Using Admissible Control Sets. CDC Zheng Gong, Boyang Li, Sylvia L. Herbert
2025	J	`jnl`	Reach-Avoid-Stabilize Using Admissible Control Sets. CoRR Zheng Gong, Boyang Li, Sylvia L. Herbert
2025	J	`jnl`	Reachability Barrier Networks: Learning Hamilton-Jacobi Solutions for Smooth and Flexible Control Barrier Functions. CoRR Matthew Kim, Will Sharpless, Hyun Joe Jeong, Sander Tonkens, Somil Bansal, Sylvia L. Herbert
2025	J	`jnl`	Robot Control [TC Spotlight]. IEEE Robotics Autom. Mag. Cosimo Della Santina, Sylvia L. Herbert, Manuel Keppler, Kaoru Yamamoto
2025	J	`jnl`	Simultaneous improvement of control and estimation for battery management systems. CoRR Mohammad S. Ramadan, Marfred Barrera, Mihai Anitescu, Sylvia L. Herbert
2025	J	`jnl`	Solving Reach- and Stabilize-Avoid Problems Using Discounted Reachability. CoRR Boyang Li, Zheng Gong, Sylvia L. Herbert
2025	J	`jnl`	Viscosity CBFs: Bridging the Control Barrier Function and Hamilton-Jacobi Reachability Frameworks in Safe Control Theory. CoRR Dylan Hirsch, Jaime Fernández Fisac, Sylvia L. Herbert
2024	C	`conf`	A Control Approach for Nonlinear Stochastic State Uncertain Systems with Probabilistic Safety Guarantees. ACC Mohammad S. Ramadan, Mohammad Alsuwaidan, Ahmed Atallah, Sylvia L. Herbert
2024	J	`jnl`	Conservative Linear Envelopes for High-Dimensional, Hamilton-Jacobi Reachability for Nonlinear Systems via the Hopf Formula. CoRR Will Sharpless, Yat Tin Chow, Sylvia L. Herbert
2024	J	`jnl`	Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey. CoRR Milan Ganai, Sicun Gao, Sylvia L. Herbert
2024	—	`conf`	Investigating Low Data, Confidence Aware Image Prediction on Smooth Repetitive Videos using Gaussian Processes. CASE Nikhil U. Shinde, Xiao Liang, Florian Richter, Sylvia L. Herbert, Michael C. Yip
2024	J	`jnl`	JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments. CoRR Nikhil Uday Shinde, Xiao Liang, Fei Liu, Yutong Zhang, Florian Richter, Sylvia L. Herbert, Michael C. Yip
2024	J	`jnl`	Linear Supervision for Nonlinear, High-Dimensional Neural Control and Differential Games. CoRR Will Sharpless, Zeyuan Feng, Somil Bansal, Sylvia L. Herbert
2024	A*	`conf`	Mollification Effects of Policy Gradient Methods. ICML Tao Wang, Sylvia L. Herbert, Sicun Gao
2024	J	`jnl`	Mollification Effects of Policy Gradient Methods. CoRR Tao Wang, Sylvia L. Herbert, Sicun Gao
2024	J	`jnl`	Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach. CoRR HyunJae Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert
2024	—	`conf`	Parameterized fast and safe tracking (FaSTrack) using DeepReach. L4DC Hyun Joe Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert
2024	—	`conf`	Patching Approximately Safe Value Functions Leveraging Local Hamilton-Jacobi Reachability Analysis. CDC Sander Tonkens, Alex Toofanian, Zhizhen Qin, Sicun Gao, Sylvia L. Herbert
2024	J	`jnl`	Robust Control Lyapunov-Value Functions for Nonlinear Disturbed Systems. CoRR Zheng Gong, Sylvia L. Herbert
2024	A	`conf`	SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation. IROS Nikhil U. Shinde, Zih-Yun Chiu, Florian Richter, Jason Lim, Yuheng Zhi, Sylvia L. Herbert, Michael C. Yip
2024	J	`jnl`	SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation. CoRR Nikhil U. Shinde, Zih-Yun Chiu, Florian Richter, Jason Lim, Yuheng Zhi, Sylvia L. Herbert, Michael C. Yip
2024	J	`jnl`	Safe Barrier-Constrained Control of Uncertain Systems via Event-triggered Learning. CoRR Armin Lederer, Azra Begzadic, Sandra Hirche, Jorge Cortés, Sylvia L. Herbert
2024	J	`jnl`	Safe Returning FaSTrack With Robust Control Lyapunov-Value Functions. IEEE Control. Syst. Lett. Zheng Gong, Boyang Li, Sylvia L. Herbert
2024	J	`jnl`	Safe Returning FaSTrack with Robust Control Lyapunov-Value Functions. CoRR Zheng Gong, Boyang Li, Sylvia L. Herbert
2024	J	`jnl`	Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments. CoRR Kehan Long, Yinzhuang Yi, Zhirui Dai, Sylvia L. Herbert, Jorge Cortés, Nikolay Atanasov
2024	—	`conf`	State-Augmented Linear Games with Antagonistic Error for High-Dimensional, Nonlinear Hamilton-Jacobi Reachability. CDC Will Sharpless, Yat Tin Chow, Sylvia L. Herbert
2024	J	`jnl`	State-Augmented Linear Games with Antagonistic Error for High-Dimensional, Nonlinear Hamilton-Jacobi Reachability. CoRR Will Sharpless, Yat Tin Chow, Sylvia L. Herbert
2024	—	`conf`	Synthesizing Control Lyapunov-Value Functions for High-Dimensional Systems Using System Decomposition and Admissible Control Sets. CDC Zheng Gong, Hyun Joe Jeong, Sylvia L. Herbert
2024	J	`jnl`	Synthesizing Control Lyapunov-Value Functions for High-Dimensional Systems Using System Decomposition and Admissible Control Sets. CoRR Zheng Gong, HyunJae Jeong, Sylvia L. Herbert
2023	J	`jnl`	A Control Approach for Nonlinear Stochastic State Uncertain Systems with Probabilistic Safety Guarantees. CoRR Mohammad S. Ramadan, Mohammad Alsuwaidan, Ahmed Atallah, Sylvia L. Herbert
2023	J	`jnl`	A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis. CoRR Jason J. Choi, Donggun Lee, Boyang Li, Jonathan P. How, Koushil Sreenath, Sylvia L. Herbert, Claire J. Tomlin
2023	J	`jnl`	Constructing Control Lyapunov-Value Functions Using Hamilton-Jacobi Reachability Analysis. IEEE Control. Syst. Lett. Zheng Gong, Muhan Zhao, Thomas Bewley, Sylvia L. Herbert
2023	J	`jnl`	Efficient and Guaranteed Hamilton-Jacobi Reachability via Self-Contained Subsystem Decomposition and Admissible Control Sets. IEEE Control. Syst. Lett. Chong He, Zheng Gong, Mo Chen, Sylvia L. Herbert
2023	A*	`conf`	Fractal Landscapes in Policy Optimization. NeurIPS Tao Wang, Sylvia L. Herbert, Sicun Gao
2023	J	`jnl`	Fractal Landscapes in Policy Optimization. CoRR Tao Wang, Sylvia L. Herbert, Sicun Gao
2023	A*	`conf`	Iterative Reachability Estimation for Safe Reinforcement Learning. NeurIPS Milan Ganai, Zheng Gong, Chenning Yu, Sylvia L. Herbert, Sicun Gao
2023	J	`jnl`	Iterative Reachability Estimation for Safe Reinforcement Learning. CoRR Milan Ganai, Zheng Gong, Chenning Yu, Sylvia L. Herbert, Sicun Gao
2023	J	`jnl`	Koopman-Hopf Hamilton-Jacobi Reachability and Control. CoRR Will Sharpless, Nikhil Shinde, Matthew Kim, Yat Tin Chow, Sylvia L. Herbert
2023	—	`conf`	Object-Centric Representations for Interactive Online Learning with Non-Parametric Methods. CASE Nikhil U. Shinde, Jacob J. Johnson, Sylvia L. Herbert, Michael C. Yip
2023	J	`jnl`	Object-centric Representations for Interactive Online Learning with Non-Parametric Methods. CoRR Nikhil U. Shinde, Jacob J. Johnson, Sylvia L. Herbert, Michael C. Yip
2023	J	`jnl`	Patching Neural Barrier Functions Using Hamilton-Jacobi Reachability. CoRR Sander Tonkens, Alex Toofanian, Zhizhen Qin, Sicun Gao, Sylvia L. Herbert
2023	—	`ed.`	Robotics: Science and Systems XIX, Daegu, Republic of Korea, July 10-14, 2023. Robotics: Science and Systems Kostas E. Bekris, Kris Hauser, Sylvia L. Herbert, Jingjin Yu
2023	A	`conf`	Sequential Neural Barriers for Scalable Dynamic Obstacle Avoidance. IROS Hongzhan Yu, Chiaki Hirayama, Chenning Yu, Sylvia L. Herbert, Sicun Gao
2023	J	`jnl`	Sequential Neural Barriers for Scalable Dynamic Obstacle Avoidance. CoRR Hongzhan Yu, Chiaki Hirayama, Chenning Yu, Sylvia L. Herbert, Sicun Gao
2022	J	`jnl`	A Cauchy-type Hamilton-Jacobi Successive Approximation Scheme For Reachable Sets Computation. CoRR Olalekan Ogunmolu, Ian Abraham, Sylvia L. Herbert
2022	A	`conf`	Refining Control Barrier Functions through Hamilton-Jacobi Reachability. IROS Sander Tonkens, Sylvia L. Herbert
2022	J	`jnl`	Refining Control Barrier Functions through Hamilton-Jacobi Reachability. CoRR Sander Tonkens, Sylvia L. Herbert
2021	J	`jnl`	FaSTrack: A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking. IEEE Trans. Autom. Control. Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime Fernández Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin
2021	J	`jnl`	FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking. CoRR Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin
2021	—	`conf`	Robust Control Barrier-Value Functions for Safety-Critical Control. CDC Jason J. Choi, Donggun Lee, Koushil Sreenath, Claire J. Tomlin, Sylvia L. Herbert
2021	J	`jnl`	Robust Control Barrier-Value Functions for Safety-Critical Control. CoRR Jason J. Choi, Donggun Lee, Koushil Sreenath, Claire J. Tomlin, Sylvia L. Herbert
2021	J	`jnl`	Safety-aware Policy Optimisation for Autonomous Racing. CoRR Bingqing Chen, Jonathan Francis, James Herman, Jean Oh, Eric Nyberg, Sylvia L. Herbert
2021	A*	`conf`	Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. ICRA Sylvia L. Herbert, Jason J. Choi, Suvansh Sanjeev, Marsalis T. Gibson, Koushil Sreenath, Claire J. Tomlin
2021	J	`jnl`	Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. CoRR Sylvia L. Herbert, Jason J. Choi, Suvansh Qazi, Marsalis T. Gibson, Koushil Sreenath, Claire J. Tomlin
2020	J	`jnl`	Confidence-aware motion prediction for real-time collision avoidance Int. J. Robotics Res. David Fridovich-Keil, Andrea Bajcsy, Jaime F. Fisac, Sylvia L. Herbert, Steven Wang, Anca D. Dragan, Claire J. Tomlin
2019	A*	`conf`	A Classification-based Approach for Approximate Reachability. ICRA Vicenc Rubies-Royo, David Fridovich-Keil, Sylvia L. Herbert, Claire J. Tomlin
2019	A*	`conf`	A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance. ICRA Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Jaime F. Fisac, Sampada Deglurkar, Anca D. Dragan, Claire J. Tomlin
2019	—	`conf`	Efficient Safe Learning for Robotic Systems in Unstructured Environments. MASS Workshops Sara Pohland, Sylvia L. Herbert, Claire J. Tomlin
2019	—	`conf`	Reachability-Based Safety Guarantees using Efficient Initializations. CDC Sylvia L. Herbert, Somil Bansal, Shromona Ghosh, Claire J. Tomlin
2019	J	`jnl`	Reachability-Based Safety Guarantees using Efficient Initializations. CoRR Sylvia L. Herbert, Shromona Ghosh, Somil Bansal, Claire J. Tomlin
2018	J	`jnl`	A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance. CoRR Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Jaime F. Fisac, Sampada Deglurkar, Anca D. Dragan, Claire J. Tomlin
2018	J	`jnl`	Classification-based Approximate Reachability with Guarantees Applied to Safe Trajectory Tracking. CoRR Vicenc Rubies-Royo, David Fridovich-Keil, Sylvia L. Herbert, Claire J. Tomlin
2018	J	`jnl`	Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems. IEEE Trans. Autom. Control. Mo Chen, Sylvia L. Herbert, Mahesh S. Vashishtha, Somil Bansal, Claire J. Tomlin
2018	A*	`conf`	Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning. ICRA David Fridovich-Keil, Sylvia L. Herbert, Jaime F. Fisac, Sampada Deglurkar, Claire J. Tomlin
2018	—	`conf`	Probabilistically Safe Robot Planning with Confidence-Based Human Predictions. Robotics: Science and Systems Jaime F. Fisac, Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Steven Wang, Claire J. Tomlin, Anca D. Dragan
2018	J	`jnl`	Probabilistically Safe Robot Planning with Confidence-Based Human Predictions. CoRR Jaime F. Fisac, Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Steven Wang, Claire J. Tomlin, Anca D. Dragan
2018	C	`conf`	Robust Tracking with Model Mismatch for Fast and Safe Planning: An SOS Optimization Approach. WAFR Sumeet Singh, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin, Marco Pavone
2018	J	`jnl`	Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach. CoRR Sumeet Singh, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin, Marco Pavone
2017	A*	`conf`	Exact and efficient Hamilton-Jacobi guaranteed safety analysis via system decomposition. ICRA Mo Chen, Sylvia L. Herbert, Claire J. Tomlin
2017	—	`conf`	FaSTrack: A modular framework for fast and guaranteed safe motion planning. CDC Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
2017	J	`jnl`	FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning. CoRR Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
2017	J	`jnl`	Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances. CoRR Somil Bansal, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin
2017	—	`conf`	Hamilton-Jacobi reachability: A brief overview and recent advances. CDC Somil Bansal, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin
2017	J	`jnl`	Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning. CoRR David Fridovich-Keil, Sylvia L. Herbert, Jaime F. Fisac, Sampada Deglurkar, Claire J. Tomlin
2016	—	`conf`	Fast reachable set approximations via state decoupling disturbances. CDC Mo Chen, Sylvia L. Herbert, Claire J. Tomlin