Extracting Exact Lie Derivatives Without Backpropagation: A Dual Compiler for Neural Control Barrier Functions

arXiv:2604.23995 · eess.SY, cs.SY, math.DS, math.RA · Submitted 2026-04-27 · Read on arXiv

eess.SY, cs.SY, math.DS, math.RA

Submitted: 2026-04-27

Updated: 2026-09-22

Code: https://github.com/mkamaldar/dual_cbf_compiler

Terminology

• Core — 5× in this paper · explained in 2 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Control Barrier Functions (CBFs) — 2× in this paper · explained in 4 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Adversarial Vulnerabilities — 1× in this paper · explained in 1 episode
• Allocator — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Control Barrier Function (CBF) — 1× in this paper · explained in 5 episodes
• Dynamic Modeling — 1× in this paper · explained in 3 episodes
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Symbolic Regression — 1× in this paper · explained in 5 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes

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