Control certificates based on barrier functions have been a powerful tool to generate probably safe control policies for dynamical systems. However, existing methods based on barrier certificates are normally for white-box systems with differentiable dynamics, which makes them inapplicable to many practical applications where the system is a black-box and cannot be accurately modeled. On the other side, model-free reinforcement learning (RL) methods for black-box systems suffer from lack of safety guarantees and low sampling efficiency. In this paper, we propose a novel method that can learn safe control policies and barrier certificates for black-box dynamical systems, without requiring for an accurate system model. Our method re-designs the loss function to back-propagate gradient to the control policy even when the black-box dynamical system is non-differentiable, and we show that the safety certificates hold on the black-box system. Empirical results in simulation show that our method can significantly improve the performance of the learned policies by achieving nearly 100% safety and goal reaching rates using much fewer training samples, compared to state-of-the-art black-box safe control methods. Our learned agents can also generalize to unseen scenarios while keeping the original performance. The source code can be found at https://github.com/Zengyi-Qin/bcbf.
Stanford University（斯坦福大学）；NASA Ames Research Center（美国国家航空航天局埃姆斯研究中心）
Autonomous cyber-physical systems (CPS) can improve safety and efficiency for safety-critical applications, but require rigorous testing before deployment. The complexity of these systems often precludes the use of formal verification and real-world testing can be too dangerous during development. Therefore, simulation-based techniques have been developed that treat the system under test as a black box operating in a simulated environment. Safety validation tasks include finding disturbances in the environment that cause the system to fail (falsification), finding the most-likely failure, and …
Ain Shams University（艾因沙姆斯大学）；Jacobs University（雅各布大学）；Stanford University（斯坦福大学）；KTH Royal Institute of Technology（KTH皇家理工学院）
Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments. However, state-of-the-art deep RL approaches typically lack safety guarantees, especially when the robot and environment models are unknown. To justify widespread deployment, robots must respect safety constraints without sacrificing performance. Thus, we propose a Black-box Reachability-based Safety Layer (BRSL) with three main components: (1) data-driven reachability analysis for a black-box robot model, (2) a trajectory rollout planner that predicts future actions and ob…
Self-Improving Safety Performance of Reinforcement Learning Based Driving with Black-Box Verification Algorithms
ITU Artificial Intelligence and Data Science Research Center（伊斯坦布尔技术大学人工智能与数据科学研究中心）；Department of Aeronautical Engineering（航空工程系）；Eatron Technologies（Eatron技术公司）；Department of Electronics and Communication Engineering（电子与通信工程系）；ITU Artificial Intelligence and Data Science Application and Research Center（伊斯坦布尔技术大学人工智能与数据科学应用与研究中心）；Department of Computer Engineering（计算机工程系）
InvEvolve: Evolving White-Box Inventory Policies via Large Language Models with Performance Guarantees
Shanghai University of Finance and Economics（上海财经大学）；Shanghai Jiao Tong University（上海交通大学）；The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳））；Tsinghua University（清华大学）；Boston College（波士顿大学）
University of Luxembourg（卢森堡大学）；University of Ottawa（渥太华大学）
Deep neural networks (DNNs) have demonstrated superior performance over classical machine learning to support many features in safety-critical systems. Although DNNs are now widely used in such systems (e.g., self driving cars), there is limited progress regarding automated support for functional safety analysis in DNN-based systems. For example, the identification of root causes of errors, to enable both risk analysis and DNN retraining, remains an open problem. In this paper, we propose SAFE, a black-box approach to automatically characterize the root causes of DNN errors. SAFE relies on a t…
Evaluating the reliability of intelligent physical systems against rare safety-critical events poses a huge testing burden for real-world applications. Simulation provides a useful platform to evaluate the extremal risks of these systems before their deployments. Importance Sampling (IS), while proven to be powerful for rare-event simulation, faces challenges in handling these learning-based systems due to their black-box nature that fundamentally undermines its efficiency guarantee, which can lead to under-estimation without diagnostically detected. We propose a framework called Deep Probabil…
Zhejiang University（浙江大学）；National University of Singapore（新加坡国立大学）；Fudan University（复旦大学）
Knowledge distillation (KD) has recently emerged as a powerful strategy to transfer knowledge from a pre-trained teacher model to a lightweight student, and has demonstrated its unprecedented success over a wide spectrum of applications. In spite of the encouraging results, the KD process per se poses a potential threat to network ownership protection, since the knowledge contained in network can be effortlessly distilled and hence exposed to a malicious user. In this paper, we propose a novel framework, termed as Safe Distillation Box (SDB), that allows us to wrap a pre-trained model in a vir…
University of Calabria（卡拉布里亚大学）；Lobachevsky University（罗巴切夫斯基大学）；University of Milano-Bicocca（米兰比可卡大学）
In this paper, the problem of safe global maximization (it should not be confused with robust optimization) of expensive noisy black-box functions satisfying the Lipschitz condition is considered. The notion "safe" means that the objective function $f(x)$ during optimization should not violate a "safety" threshold, for instance, a certain a priori given value $h$ in a maximization problem. Thus, any new function evaluation (possibly corrupted by noise) must be performed at "safe points" only, namely, at points $y$ for which it is known that the objective function $f(y) > h$. The main difficult…
While autonomous vehicle (AV) technology has shown substantial progress, we still lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de-facto}$ evaluation method, is dangerous to the public. Moreover, due to the rare nature of failures, billions of miles of driving are needed to statistically validate performance claims. Thus, the industry has largely turned to simulation to evaluate AV systems. However, having a simulation stack alone is not a solution. A simulation testing framework needs to prioritize which scenarios to run, learn how the chosen scenarios provide…
Fraunhofer Institute for Cognitive Systems（弗劳恩霍夫认知系统研究所）
In this paper, we consider the imperfection within machine learning-based 2D object detection and its impact on safety. We address a special sub-type of performance limitations: the prediction bounding box cannot be perfectly aligned with the ground truth, but the computed Intersection-over-Union metric is always larger than a given threshold. Under such type of performance limitation, we formally prove the minimum required bounding box enlargement factor to cover the ground truth. We then demonstrate that the factor can be mathematically adjusted to a smaller value, provided that the motion p…
SADA: Safe and Adaptive Aggregation of Multiple Black-Box Predictions in Semi-Supervised Learning
Department of Biostatistics & Medical Informatics, University of Wisconsin-Madison（生物统计与医学信息学系，威斯康星大学麦迪逊分校）；Department of Statistics, University of Wisconsin-Madison（统计学系，威斯康星大学麦迪逊分校）
Warsaw University of Technology（华沙理工大学）；University of Warsaw（华沙大学）
Complex black-box predictive models may have high accuracy, but opacity causes problems like lack of trust, lack of stability, sensitivity to concept drift. On the other hand, interpretable models require more work related to feature engineering, which is very time consuming. Can we train interpretable and accurate models, without timeless feature engineering? In this article, we show a method that uses elastic black-boxes as surrogate models to create a simpler, less opaque, yet still accurate and interpretable glass-box models. New models are created on newly engineered features extracted/le…
Fraunhofer IAIS（弗劳恩霍夫智能分析与信息系统研究所）；Fraunhofer Center for Machine Learning（弗劳恩霍夫机器学习中心）
An important pillar for safe machine learning (ML) is the systematic mitigation of weaknesses in neural networks to afford their deployment in critical applications. An ubiquitous class of safety risks are learned shortcuts, i.e. spurious correlations a network exploits for its decisions that have no semantic connection to the actual task. Networks relying on such shortcuts bear the risk of not generalizing well to unseen inputs. Explainability methods help to uncover such network vulnerabilities. However, many of these techniques are not directly applicable if access to the network is constra…
We consider the problem of controlling an unknown linear time-invariant dynamical system from a single chain of black-box interactions, with no access to resets or offline simulation. Under the assumption that the system is controllable, we give the first efficient algorithm that is capable of attaining sublinear regret in a single trajectory under the setting of online nonstochastic control. This resolves an open problem on the stochastic LQR problem, and in a more challenging setting that allows for adversarial perturbations and adversarially chosen and changing convex loss functions. We giv…
Symbolic Imitation Learning: From Black-Box to Explainable Driving Policies
Department of Science and Engineering, the George Washington University（科学与工程系，乔治·华盛顿大学）；Autonomous Vehicles Lab, Department of Mechanical Engineering, University of Surrey（自主车辆实验室，机械工程系，萨里大学）
Model-based reinforcement learning (MBRL) algorithms can attain significant sample efficiency but require an appropriate network structure to represent system dynamics. Current approaches include white-box modeling using analytic parameterizations and black-box modeling using deep neural networks. However, both can suffer from a bias-variance trade-off in the learning process, and neither provides a structured method for injecting domain knowledge into the network. As an alternative, gray-box modeling leverages prior knowledge in neural network training but only for simple systems. In this pap…
Fraunhofer Institute for Cognitive Systems IKS（弗劳恩霍夫认知系统研究所IKS）；Ruhr West University of Applied Sciences（鲁尔西应用科学大学）
Confidence calibration is a major concern when applying artificial neural networks in safety-critical applications. Since most research in this area has focused on classification in the past, confidence calibration in the scope of object detection has gained more attention only recently. Based on previous work, we study the miscalibration of object detection models with respect to image location and box scale. Our main contribution is to additionally consider the impact of box selection methods like non-maximum suppression to calibration. We investigate the default intrinsic calibration of obj…
We present that, instead of establishing the equations of motion, one can model-freely reveal the dynamical properties of a black-box system using a learning machine. Trained only by a segment of time series of a state variable recorded at present parameters values, the dynamics of the learning machine at different training stages can be mapped to the dynamics of the target system along a particular path in its parameter space, following an appropriate training strategy that monotonously decreases the cost function. This path is important, because along that, the primary dynamical properties o…
