Author

Karen Leung

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Review Aug 2026

OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package

This tutorial presents OpenSCvx, an open-source Python framework that bridges the gap between high-level problem specification and efficient numerical optimization and provides a symbolic modeling interface that automatically constructs and solves trajectory optimization problems from modular descriptions of objectives...

Christopher R. Hayner, Griffin J. Norris, Fabio Spada et al. · 0 citations

Preprint Jul 2026

Discriminative Barrier Functions for Safe Adversarial Imitation Learning from Observation

This work constraining reward function candidacy during IRL to the space of CBFs yields a formulation that exhibits safe online control with continuous experiential improvement, and demonstrates that the recovered barrier function is robust to unsafe states entirely absent from the expert data.

Anubhav Vishwakarma, Bhaumik Mehta, Caleb Hsu et al. · 0 citations