A toolkit for testing control and planning algorithm for car racing.

Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.

Safe robot learning

Safe Planning with Diffusion Probabilistic Models

Thrid-party safety-gym safe exploration environments for autonomous driving. Also environment used for IROS 2021 paper: Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function

Various Control Barrier Functions realized on cartpole.

Safety Critical Control of Autonomous Vehicles by Control Barrier Functions

Official Implementation of ICLR2025 Paper: Songyuan Zhang, Oswin So, Mitchell Black, Chuchu Fan: "Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control".

Code for "Learning Local Control Barrier Functions for Safety Control of Hybrid Systems"

On the forward invariance of Neural ODEs: performance guarantees for policy learning

The official repository for Paper "Learning a Formally Verified Control Barrier Function in Stochastic Environment"

Model Predictive Control-based Reinforcement Learning with Control Barrier Functions

The official Code for the paper "Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)"

Optimal Control Theory and Stochastic Control Barrier Functions applied to Economics and Finance

Modular implementation of basic motion planning algorithm that based on Model Predictive Control (MPC) and Control Barrier Function (CBF).

Code base for disturbance-robust backup control barrier functions (DR-bCBFs).

Master's thesis project, showing a safe RL agent that stabilises and always keeps a power system safe (even during training)

Python Simulator for Control Barrier function verification