RESEARCH
A Framework for Online Updates to Safe Sets for Uncertain Dynamics
November 24, 2020
Abstract
Safety is crucial for deploying robots in the real world. One way of reasoning about safety of robots is by building safe sets through Hamilton-Jacobi (HJ) reachability. However, safe sets are often computed offline, assuming perfect knowledge of the dynamics, due to high compute time. In the presence of uncertainty, the safe set computed offline becomes inaccurate online, potentially leading to dangerous situations on the robot. We propose a novel framework to learn a safe control policy in simulation, and use it to generate online safe sets under uncertain dynamics. We start with a conservative safe set and update it online as we gather more information about the robot dynamics. We also show an application of our framework to a model-based reinforcement learning problem, proposing a safe model-based RL setup. Our framework enables robots to simultaneously learn about their dynamics, accomplish tasks, and update their safe sets. It also generalizes to complex high-dimensional dynamical systems, like 3-link manipulators and quadrotors, and reliably avoids obstacles, while achieving a task, even in the presence of unmodeled noise.
Related Publications
May 12, 2026
HUMAN & MACHINE INTELLIGENCE
RESEARCH
NeuralSet: A High-Performing Python Package for Neuro-AI
Corentin Bel, Linnea Evanson, Julien Gadonneix, Andrea Santos Revilla, Mingfang (Lucy) Zhang, Julie Bonnaire, Charlotte Caucheteux, Alexandre Défossez, Théo Desbordes, Pablo Diego-Simón, Shubh Khanna, Juliette Millet, Pierre Orhan, Saarang Panchavati, Antoine Ratouchniak, Alexis Thual, Hubert Jacob Banville, Jarod Levy, Jean Remi King, Josephine Raugel, Jérémy Rapin, Katelyn Begany, Marlene Careil, Simon Dahan, Sophia Houhamdi, Stéphane d'Ascoli, Teon Brooks, Yohann Benchetrit
May 12, 2026
May 06, 2026
HUMAN & MACHINE INTELLIGENCE
RESEARCH
NeuralBench: A Unifying Framework to Benchmark NeuroAI Models
Saarang Panchavati, Antoine Ratouchniak, Mingfang (Lucy) Zhang, Elisa Cascardi, Hubert Banville, Jarod Levy, Jean-Rémi King, Jérémy Rapin, Katelyn Begany, Marlene Careil, Simon Dahan, Stéphane d'Ascoli, Teon Brooks, Yohann Benchetrit
May 06, 2026
April 16, 2026
RESEARCH
AIRA₂: Overcoming Bottlenecks in AI Research Agents
Nicola Cancedda, Pontus Stenetorp, Alexis Audran-Reiss, Alisia Lupidi, Anton Protopopov, Bassel Al Omari, Carole-Jean Wu, Derek Dunfield, Despoina Magka, Edan Toledo, Hela Momand, Ishita Mediratta, Jakob Foerster, Jean-Christophe Gagnon-Audet, Karen Hambardzumyan, Kelvin Niu, Martin Josifoski, Michael Kuchnik, Michael Shvartsman, Nicolas Baldwin, Parth Pathak, Rishi Hazra, Tatiana Shavrina, Thomas Simon Foster, Yoram Bachrach
April 16, 2026
March 17, 2026
RESEARCH
NLP
Omnilingual MT: Machine Translation for 1,600 Languages
Omnilingual MT Team, Niyati Bafna, Ioannis Tsiamas, Mark Duppenthaler, Albert Ventayol-Boada, Alexandre Mourachko, Andrea Caciolai, Arina Turkatenko, Artyom Kozhevnikov, Belen Alastruey, Charles-Eric Saint-James, Chierh CHENG, Christophe Ropers, Cynthia Gao, David Dale, Edan Toledo, Eduardo Sánchez, Gabriel Mejia Gonzalez, Holger Schwenk, Jean Maillard, Joe Chuang, João Maria Janeiro, Kevin Heffernan, Marta R. Costa-jussa, Mary Williamson, Nate Ekberg, Paul-Ambroise Duquenne, Pere Lluís Huguet Cabot, Rashel Moritz, Shireen Yates, Surya Parimi
March 17, 2026
Help Us Pioneer The Future of AI
We share our open source frameworks, tools, libraries, and models for everything from research exploration to large-scale production deployment.
Our approach
Latest news
Foundational models
Meta © 2026