# How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems

> Research article (2024 IEEE International Conference on Robotics and Automation (ICRA), 2024) · cited 21× · AI/ML

**Wikidata**: [openalex:W4401416757](https://www.wikidata.org/wiki/openalex:W4401416757)  
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