Safety-critical Control with Control Barrier Functions: A Hierarchical Optimization Framework. - Junjun Xie; Liang Hu 002; Jiahu Qin; Jun Yang 011; Huijun Gao (CoRR, 2024)

Certificated Actor-Critic: Hierarchical Reinforcement Learning with Control Barrier Functions for Safe Navigation. - Junjun Xie; Shuhao Zhao; Liang Hu 002; Huijun Gao (CoRR, 2025)