Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866914571321606144 |
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| author | Kim, Taekyung Okamoto, Hideki Hoxha, Bardh Fainekos, Georgios Panagou, Dimitra |
| author_facet | Kim, Taekyung Okamoto, Hideki Hoxha, Bardh Fainekos, Georgios Panagou, Dimitra |
| contents | Safety-critical autonomy in unstructured environments poses significant challenges for online safety certification under evolving constraints. We propose Policy Library Control Barrier Function~(PL-CBF), a runtime safety filter that evaluates a library of fallback policies via parallel finite-horizon rollouts, selects the least invasive safe mode, and enforces safety by solving a quadratic program that minimally modifies a nominal policy. We provide a theoretical analysis based on a finite-horizon language metric over closed-loop behaviors, characterizing policy-library coverage requirements for certifying finite-horizon safety. Simulations on a planar double-integrator (4 states), highway driving with abrupt friction changes using a realistic nonlinear vehicle model (8 states), and 3D quadrotor navigation in crowded dynamic environments (12 states) demonstrate improved safety coverage over single-policy safety filters while retaining millisecond-level runtime. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_16588 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts Kim, Taekyung Okamoto, Hideki Hoxha, Bardh Fainekos, Georgios Panagou, Dimitra Robotics Systems and Control Safety-critical autonomy in unstructured environments poses significant challenges for online safety certification under evolving constraints. We propose Policy Library Control Barrier Function~(PL-CBF), a runtime safety filter that evaluates a library of fallback policies via parallel finite-horizon rollouts, selects the least invasive safe mode, and enforces safety by solving a quadratic program that minimally modifies a nominal policy. We provide a theoretical analysis based on a finite-horizon language metric over closed-loop behaviors, characterizing policy-library coverage requirements for certifying finite-horizon safety. Simulations on a planar double-integrator (4 states), highway driving with abrupt friction changes using a realistic nonlinear vehicle model (8 states), and 3D quadrotor navigation in crowded dynamic environments (12 states) demonstrate improved safety coverage over single-policy safety filters while retaining millisecond-level runtime. |
| title | Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2605.16588 |