نسخة أولية وصول مفتوح
Winning a Won Game: Strict Reach-Avoid-Stay Control Barrier Functions for High-Dimensional Black-Box Systems
Robots must complete their tasks and maintain the achieved outcomes while avoiding safety failures at all times. Strict reach-avoid-stay (sRAS) formalizes this requirement: safely reaching a target and remaining there indefinitely after first entry. We propose an sRAS Q-control barrier function (CBF) safety filter for …