相关论文: Runtime Safety Assurance Using Reinforcement Learn…

The literature on Inverse Reinforcement Learning (IRL) typically assumes that humans take actions in order to minimize the expected value of a cost function, i.e., that humans are risk neutral. Yet, in practice, humans are often far from…

Reinforcement learning (RL) is attracting increasing interests in autonomous driving due to its potential to solve complex classification and control problems. However, existing RL algorithms are rarely applied to real vehicles for two…

Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem of safe reinforcement learning (RL) for autonomous racing, using the vehicle's…

We present a safety verification framework for design-time and run-time assurance of learning-based components in aviation systems. Our proposed framework integrates two novel methodologies. From the design-time assurance perspective, we…

In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…

It is quite challenging to ensure the safety of reinforcement learning (RL) agents in an unknown and stochastic environment under hard constraints that require the system state not to reach certain specified unsafe regions. Many popular…

Runtime verification or runtime monitoring equips safety-critical cyber-physical systems to augment design assurance measures and ensure operational safety and security. Cyber-physical systems have interaction failures, attack surfaces, and…

Autonomous drifting is a complex and crucial maneuver for safety-critical scenarios like slippery roads and emergency collision avoidance, requiring precise motion planning and control. Traditional motion planning methods often struggle…

Safety comes first in many real-world applications involving autonomous agents. Despite a large number of reinforcement learning (RL) methods focusing on safety-critical tasks, there is still a lack of high-quality evaluation of those…

Meta-learning is a branch of machine learning which trains neural network models to synthesize a wide variety of data in order to rapidly solve new problems. In process control, many systems have similar and well-understood dynamics, which…

Assuring the safety and trustworthiness of autonomous systems is particularly difficult when learning-enabled components and open environments are involved. Formal methods provide strong guarantees but depend on complete models and static…

Ensuring the safety of reinforcement learning (RL) algorithms is crucial to unlock their potential for many real-world tasks. However, vanilla RL and most safe RL approaches do not guarantee safety. In recent years, several methods have…

This paper introduces the safety controller architecture as a runtime assurance mechanism for system specifications expressed as safety properties in Linear Temporal Logic (LTL). The safety controller has three fundamental components: a…

Autonomous vehicles hold great promise for reducing traffic fatalities and improving transportation efficiency, yet their widespread adoption hinges on embedding credible and transparent ethical reasoning into routine and emergency…

Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…

Reinforcement learning (RL) algorithms have been successfully applied to control tasks associated with unmanned aerial vehicles and robotics. In recent years, safe RL has been proposed to allow the safe execution of RL algorithms in…

In the area of learning-driven artificial intelligence advancement, the integration of machine learning (ML) into self-driving (SD) technology stands as an impressive engineering feat. Yet, in real-world applications outside the confines of…

Self-adaptive systems (SASs) are capable of adjusting its behavior in response to meaningful changes in the operational con-text and itself. The adaptation needs to be performed automatically through self-managed reactions and…

Given the availability of more comprehensive measurement data in modern power systems, reinforcement learning (RL) has gained significant interest in operation and control. Conventional RL relies on trial-and-error interactions with the…

In this paper we propose a formal, model-agnostic meta-learning framework for safe reinforcement learning. Our framework is inspired by how parents safeguard their children across a progression of increasingly riskier tasks, imparting a…