Lukas Brunke

University of Toronto | U of T · Institute for Aerospace Studies

In recent years, both reinforcement learning and learning-based control—as well as the study of their safety , which is crucial for deployment in real-world robots—have gained significant traction. However, to adequately gauge the progress and applicability of new results, we need the tools to equitably compare the approaches proposed by the contro...

The last half decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic review of the recent advances made in using machine learning to achieve safe decision-making under uncertaint...

In this work, we consider the problem of designing a safety filter for a nonlinear uncertain control system. Our goal is to augment an arbitrary controller with a safety filter such that the overall closed-loop system is guaranteed to stay within a given state constraint set, referred to as being safe. For systems with known dynamics, control barri...

In this work we address the problem of performing a repetitive task when we have uncertain observations and dynamics. We formulate this problem as an iterative infinite horizon optimal control problem with output feedback. Previously, this problem was solved for linear time-invariant (LTI) system for the case when noisy full-state measurements are...

In recent years, reinforcement learning and learning-based control -- as well as the study of their safety, crucial for deployment in real-world robots -- have gained significant traction. However, to adequately gauge the progress and applicability of new results, we need the tools to equitably compare the approaches proposed by the controls and re...

The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic review of the recent advances made in using machine learning to achieve safe decision making under uncertaint...

Numerous control applications, including robotic systems such as unmanned aerial vehicles or assistive robots, are expected to guarantee high performance despite being deployed in unknown and dynamic environments where they are subject to disturbances, unmodeled dynamics, and parametric uncertainties. The fast feedback of adaptive controllers makes...

Input perturbation methods occlude parts of an input to a function and measure the change in the function's output. Recently, input perturbation methods have been applied to generate and evaluate saliency maps from convolutional neural networks. In practice, neutral baseline images are used for the occlusion, such that the baseline image's impact o...

The goal of this thesis is to design a learning model predictive controller (LMPC) that allows multiple agents to race competitively on a predefined race track in real-time. This thesis addresses two major shortcomings in the already existing single-agent formulation. Previously, the agent determines a locally optimal trajectory but does not explor...

Input perturbation methods occlude parts of an input to a function and measure the change in the function’s output. Recently, input perturbation methods have been applied to generate and evaluate saliency maps from convolutional neural networks. In practice, neutral baseline images are used for the occlusion, such that the baseline image’s impact o...

The name of one author was omitted in the initially published version.