Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty

Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty

Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty

Taekyung Kim Robin Inho Kee Dimitra Panagou

Preprint, 2026

project page / code / arxiv /

Code

tkkim-robot / online_adaptive_cbf

Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty

Authors

Taekyung Kim

Dimitra Panagou

Dimitra Panagou