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Taoran Wu

Taoran Wu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
eess.SYMachine LearningSystems and Control

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Published work

2 published item(s)

preprint2026arXiv

Converse Barrier Certificates for Finite-time Safety Verification of Continuous-time Perturbed Deterministic Systems

In this paper, we investigate the problem of verifying the finite-time safety of continuous-time perturbed deterministic systems represented by ordinary differential equations in the presence of measurable disturbances. Given a finite-time horizon, if the system is safe, it, starting from a compact initial set, will remain within an open and bounded safe region throughout the specified time horizon, regardless of the disturbances. The main contribution of this work is a converse theorem: we prove that a continuously differentiable, time-dependent barrier certificate exists if and only if the system is safe over the finite-time horizon. The existence problem is explored by finding a continuously differentiable approximation of a unique Lipschitz viscosity solution to a Hamilton-Jacobi equation.

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preprint2026arXiv

Stochastic Minimum-Cost Reach-Avoid Reinforcement Learning

We study stochastic minimum-cost reach-avoid reinforcement learning, where an agent must satisfy a reach-avoid specification with probability at least $p$ while minimizing expected cumulative costs in stochastic environments. Existing safe and constrained reinforcement learning methods typically fail to jointly enforce probabilistic reach-avoid constraints and optimize cost in the learning setting in stochastic environments. To address this challenge, we introduce reach-avoid probability certificates (RAPCs), which identify states from which stochastic reach-avoid constraints are satisfiable. Building on RAPCs, we develop a contraction-based Bellman formulation that serves as a principled surrogate for integrating reach-avoid considerations into reinforcement learning, enabling cost optimization under probabilistic constraints. We establish almost sure convergence of the proposed algorithms to locally optimal policies with respect to the resulting objective. Experiments in the MuJoCo simulator demonstrate improved cost performance and consistently higher reach-avoid satisfaction rates.

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