LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials

arXiv:2609.28364 · cs.RO, cs.LG, math.OC · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.LG, math.OC

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Robustness — 14× in this paper · explained in 5 episodes
• Reinforcement Learning — 10× in this paper · explained in 4 episodes
• Steering — 5× in this paper · explained in 2 episodes
• Actor — 3× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 3× in this paper · explained in 2 episodes
• Least-Effort Adversarial Potentials — 3× in this paper
• Verification — 3× in this paper · explained in 2 episodes
• IEEE Conference on Decision and Control — 2× in this paper
• Control Barrier Functions (CBF) — 1× in this paper · explained in 2 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Graph Neural Network (GNN) — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Multi-Agent System — 1× in this paper · explained in 6 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes

Sources

• Synthesis and Deployment of Maximal Robust Control Barrier Functions through Adversarial Reinforcement Learning
• Proximal Policy Optimization Algorithms

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