相关论文: Constraint-Aware Refinement for Safety Verificatio…

In the field of safe reinforcement learning (RL), finding a balance between satisfying safety constraints and optimizing reward performance presents a significant challenge. A key obstacle in this endeavor is the estimation of safety…

Formal verification of neural networks is essential before their deployment in safety-critical applications. However, existing methods for formally verifying neural networks are not yet scalable enough to handle practical problems under…

This paper presents a risk-aware safe reinforcement learning (RL) control design for stochastic discrete-time linear systems. Rather than using a safety certifier to myopically intervene with the RL controller, a risk-informed safe…

Safety guarantees are a prerequisite to the deployment of reinforcement learning (RL) agents in safety-critical tasks. Often, deployment environments exhibit non-stationary dynamics or are subject to changing performance goals, requiring…

Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…

Offline safe reinforcement learning(OSRL) derives constraint-satisfying policies from pre-collected datasets, offers a promising avenue for deploying RL in safety-critical real-world domains such as robotics. However, the majority of…

A promising approach to optimal control of nonlinear systems involves iteratively linearizing the system and solving an optimization problem at each time instant to determine the optimal control input. Since this approach relies on online…

This paper addresses the spacecraft relative orbit reconfiguration problem of minimizing the delta-v cost of impulsive control actions while achieving a desired state in fixed time. The problem is posed in relative orbit element (ROE)…

As a new programming paradigm, deep neural networks (DNNs) have been increasingly deployed in practice, but the lack of robustness hinders their applications in safety-critical domains. While there are techniques for verifying DNNs with…

We present a fully automatic algorithm for verifying safety properties of parameterized software systems. This algorithm is based on both IC3 and Lazy Annotation. We implemented it in Cubicle, a model checker for verifying safety properties…

Reconfigurable broadcast networks (RBN) are a model of distributed computation in which agents can broadcast messages to other agents using some underlying communication topology which can change arbitrarily over the course of executions.…

This paper presents Verisig, a hybrid system approach to verifying safety properties of closed-loop systems using neural networks as controllers. Although techniques exist for verifying input/output properties of the neural network itself,…

Deep neural networks have been shown to be highly miscalibrated. often they tend to be overconfident in their predictions. It poses a significant challenge for safety-critical systems to utilise deep neural networks (DNNs), reliably. Many…

The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…

Functional verification relies on large simulation-based regressions. Traditional test selection relies on static test features and overlooks actual coverage behavior, wasting substantial simulation time, while constrained random stimuli…

Over the last decade, Neural Networks (NNs) have been widely used in numerous applications including safety-critical ones such as autonomous systems. Despite their emerging adoption, it is well known that NNs are susceptible to Adversarial…

Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design remains challenging, motivating the development of…

In this paper, we propose a computationally efficient framework for interval reachability of systems with neural network controllers. Our approach leverages inclusion functions for the open-loop system and the neural network controller to…

Over-approximating the reachable sets of dynamical systems is a fundamental problem in safety verification and robust control synthesis. The representation of these sets is a key factor that affects the computational complexity and the…

Safe reinforcement learning (RL) with hard constraint guarantees is a promising optimal control direction for multi-energy management systems. It only requires the environment-specific constraint functions itself a priori and not a complete…