Santiago Thorup

Gradient-Free Neural Hamilton-Jacobi Reachability for Scalable Safety-Critical Control

This work proposes a discrete-time neural reachability framework for control-disturbance-affine systems that learns backward reachable tubes (BRTs) and backward reach-avoid tubes (BRATs) through Bellman-Isaacs value propagation, and exploits the bang-bang structure of optimal safety interventions to construct approxima...