arxivcs.RO2026-07-17
Certifiable Safe Model-Based Reinforcement Learning with Control-Affine Dynamics Approximation
Hao Zhou, Yanze Zhang, Cameron Reid, Wenhao Luo
Safe model-based reinforcement learning (RL) often bridges control-theoretic analysis and RL for robots to safely explore (partially) unknown system dynamics while deriving control actions for task efficiency. The control performance and safety assurance typically rely on prior k…