Learning-Based Shielding for Safe Autonomy under Unknown Dynamics
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866914969145049088 |
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| author | Reed, Robert Lahijanian, Morteza |
| author_facet | Reed, Robert Lahijanian, Morteza |
| contents | Shielding is a common method used to guarantee the safety of a system under a black-box controller, such as a neural network controller from deep reinforcement learning (DRL), with simpler, verified controllers. Existing shielding methods rely on formal verification through Markov Decision Processes (MDPs), assuming either known or finite-state models, which limits their applicability to DRL settings with unknown, continuous-state systems. This paper addresses these limitations by proposing a data-driven shielding methodology that guarantees safety for unknown systems under black-box controllers. The approach leverages Deep Kernel Learning to model the systems' one-step evolution with uncertainty quantification and constructs a finite-state abstraction as an Interval MDP (IMDP). By focusing on safety properties expressed in safe linear temporal logic (safe LTL), we develop an algorithm that computes the maximally permissive set of safe policies on the IMDP, ensuring avoidance of unsafe states. The algorithms soundness and computational complexity are demonstrated through theoretical proofs and experiments on nonlinear systems, including a high-dimensional autonomous spacecraft scenario. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_07359 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Learning-Based Shielding for Safe Autonomy under Unknown Dynamics Reed, Robert Lahijanian, Morteza Systems and Control Machine Learning Shielding is a common method used to guarantee the safety of a system under a black-box controller, such as a neural network controller from deep reinforcement learning (DRL), with simpler, verified controllers. Existing shielding methods rely on formal verification through Markov Decision Processes (MDPs), assuming either known or finite-state models, which limits their applicability to DRL settings with unknown, continuous-state systems. This paper addresses these limitations by proposing a data-driven shielding methodology that guarantees safety for unknown systems under black-box controllers. The approach leverages Deep Kernel Learning to model the systems' one-step evolution with uncertainty quantification and constructs a finite-state abstraction as an Interval MDP (IMDP). By focusing on safety properties expressed in safe linear temporal logic (safe LTL), we develop an algorithm that computes the maximally permissive set of safe policies on the IMDP, ensuring avoidance of unsafe states. The algorithms soundness and computational complexity are demonstrated through theoretical proofs and experiments on nonlinear systems, including a high-dimensional autonomous spacecraft scenario. |
| title | Learning-Based Shielding for Safe Autonomy under Unknown Dynamics |
| topic | Systems and Control Machine Learning |
| url | https://arxiv.org/abs/2410.07359 |