نسخة أولية وصول مفتوح
BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control
Control barrier functions (CBFs) have become one of the most popular tools for encoding and enforcing state constraints in safety-critical robotics. Standard CBF approaches are inherently myopic in nature as they enforce safety only at the current time step. Consequently, the system can be driven toward the boundary of …