Formal Methods Assisted Training of Safe Reinforcement Learning Agents

Murugesan, Anitha; Moghadamfalahi, Mohammad; Chattopadhyay, Arunabh

doi:10.1007/978-3-030-20652-9_22

“…By contrast, RTA can be used to filter the actions of the RL algorithms to ensure safety. A variety of RTA approaches have been explored in the literature including human-like intervention [184], Lyapunov-based approaches [185], [186], barrier functions [187], and formal verification of safety constraints [188], [189]. Determining the appropriate way to include RTA in the training process is still an area of active research.…”

Section: Sidebar: Shielded Learningmentioning

confidence: 99%

Runtime Assurance for Safety-Critical Systems: An Introduction to Safety Filtering Approaches for Complex Control Systems

Hobbs

¹

,

Mote²,

Abate³

et al. 2023

View full text Add to dashboard Cite

More than three miles above the Arizona desert, an F-16 student pilot experienced a gravityinduced loss of consciousness (GLOC), passing out while turning at nearly 9Gs (nine times the force of gravity) flying over 400 knots (over 460 miles per hour). With its pilot unconscious, the aircraft turn devolved into a dive, dropping from over 17,000 feet to less than 8,000 feet in altitude in less than 10 seconds. An auditory warning in the cockpit called out to the pilot "altitude, altitude" just before he crossed through 11,000 feet, switching to a command to "pull up" around 8,000 feet. Meanwhile, the student's instructor was watching the event unfold from his own aircraft. As the student's aircraft passed through 12,500 feet, the instructor called over the radio "two recover," commanding the student ("two") to end the dive. As the student's aircraft passed through 11,000 feet the instructor's "two recover!" came with increased urgency. At 9,000 feet, and with terror rising in his voice the instructor yelled "TWO RECOVER!" Fortunately, at the same time as the instructor's third panicked radio call, a new Run Time Assurance (RTA) system kicked in to automatically recover the aircraft. The Automatic Ground Collision Avoidance System (Auto GCAS), an RTA system integrated on the jets less than two years earlier in the Fall of 2014, detected that the aircraft was about to collide, commanded a roll to wings level and pull up maneuver, and recovered the aircraft less than 3,000 feet above the

show abstract

“…By contrast, RTA can be used to filter the actions of the RL algorithms to ensure safety. A variety of RTA approaches have been explored in the literature including human-like intervention [184], Lyapunov-based approaches [185], [186], barrier functions [187], and formal verification of safety constraints [188], [189]. Determining the appropriate way to include RTA in the training process is still an area of active research.…”

Section: Sidebar: Shielded Learningmentioning

confidence: 99%

Run Time Assurance for Safety-Critical Systems: An Introduction to Safety Filtering Approaches for Complex Control Systems

Hobbs¹,

Mote²,

Abate³

et al. 2021

Preprint

View full text Add to dashboard Cite

More than three miles above the Arizona desert, an F-16 student pilot experienced a gravityinduced loss of consciousness (GLOC), passing out while turning at nearly 9Gs (nine times the force of gravity) flying over 400 knots (over 460 miles per hour). With its pilot unconscious, the aircraft turn devolved into a dive, dropping from over 17,000 feet to less than 8,000 feet in altitude in less than 10 seconds. An auditory warning in the cockpit called out to the pilot "altitude, altitude" just before he crossed through 11,000 feet, switching to a command to "pull up" around 8,000 feet. Meanwhile, the student's instructor was watching the event unfold from his own aircraft. As the student's aircraft passed through 12,500 feet, the instructor called over the radio "two recover," commanding the student ("two") to end the dive. As the student's aircraft passed through 11,000 feet the instructor's "two recover!" came with increased urgency. At 9,000 feet, and with terror rising in his voice the instructor yelled "TWO RECOVER!" Fortunately, at the same time as the instructor's third panicked radio call, a new Run Time Assurance (RTA) system kicked in to automatically recover the aircraft. The Automatic Ground Collision Avoidance System (Auto GCAS), an RTA system integrated on the jets less than two years earlier in the Fall of 2014, detected that the aircraft was about to collide, commanded a roll to wings level and pull up maneuver, and recovered the aircraft less than 3,000 feet above the

show abstract