Pierre-Alexandre Leziart

Safe Execution of RL Policies Via Acceleration-Based CBF-QP Constraint Enforcement for Real-World Robotic Deployments

Bastien Muraccioli, Alice Cariou, Pierre-Alexandre Leziart, Mathieu Celerier, Arnaud Demont, Gentiane Venture, et al.

Reinforcement Learning (RL) has demonstrated remarkable capabilities for solving complex robotic control problems, but its lack of safety guarantees severely limits deployment on hardware. In particular, as legged robots and manipulators often operate near safety-critical boundar…Read more