DeepSafeMPC: Deep Learning-Based Model Predictive Control for Safe Multi-Agent Reinforcement Learning
School of Aeronautics and Astronautics, Purdue University（普渡大学航空航天学院）；Elmore Family School of Electrical and Computer Engineering, Purdue University（普渡大学埃尔莫尔家族电气与计算机工程学院）
Xuefeng Wang, Henglin Pu, Hyung Jun Kim, Husheng Li
Safe Multi-agent reinforcement learning (safe MARL) has increasingly gained attention in recent years, emphasizing the need for agents to not only optimize the global return but also adhere to safety requirements through behavioral constraints. Some recent work has integrated control theory with multi-agent reinforcement learning to address the challenge of ensuring safety. However, there have been only very limited applications of Model Predictive Control (MPC) methods in this domain, primarily due to the complex and implicit dynamics characteristic of multi-agent environments. To bridge this gap, we propose a novel method called Deep Learning-Based Model Predictive Control for Safe Multi-Agent Reinforcement Learning (DeepSafeMPC). The key insight of DeepSafeMPC is leveraging a entralized deep learning model to well predict environmental dynamics. Our method applies MARL principles to search for optimal solutions. Through the employment of MPC, the actions of agents can be restricted within safe states concurrently. We demonstrate the effectiveness of our approach using the Safe Multi-agent MuJoCo environment, showcasing significant advancements in addressing safety concerns in MARL.
University of Freiburg（弗赖堡大学）；ETH Zurich（苏黎世联邦理工学院）
Reinforcement learning has been successfully used to solve difficult tasks in complex unknown environments. However, these methods typically do not provide any safety guarantees during the learning process. This is particularly problematic, since reinforcement learning agent actively explore their environment. This prevents their use in safety-critical, real-world applications. In this paper, we present a learning-based model predictive control scheme that provides high-probability safety guarantees throughout the learning process. Based on a reliable statistical model, we construct provably a…
Real-world reinforcement learning (RL) problems often demand that agents behave safely by obeying a set of designed constraints. We address the challenge of safe RL by coupling a safety guide based on model predictive control (MPC) with a modified policy gradient framework in a linear setting with continuous actions. The guide enforces safe operation of the system by embedding safety requirements as chance constraints in the MPC formulation. The policy gradient training step then includes a safety penalty which trains the base policy to behave safely. We show theoretically that this penalty al…
Pacific Northwest National Laboratory（太平洋西北国家实验室）；Battelle Memorial Institute（巴特尔纪念研究所）
We develop a novel form of differentiable predictive control (DPC) with safety and robustness guarantees based on control barrier functions. DPC is an unsupervised learning-based method for obtaining approximate solutions to explicit model predictive control (MPC) problems. In DPC, the predictive control policy parametrized by a neural network is optimized offline via direct policy gradients obtained by automatic differentiation of the MPC problem. The proposed approach exploits a new form of sampled-data barrier function to enforce offline and online safety requirements in DPC settings while …
Predictive Safety Shield for Dyna-Q Reinforcement Learning
Departement U2IS, ENSTA Paris, Institut Polytechnique de Paris（ENSTA巴黎大学U2IS部门，巴黎理工学院）；Department of Electrical Engineering and Computer Science, University of California, Berkeley, USA（加州大学伯克利分校电气工程与计算机科学系）
Uncertainty-Aware Predictive Safety Filters for Probabilistic Neural Network Dynamics
Institute for Data Science in Mechanical Engineering (DSME), RWTH Aachen University（机械工程数据科学研究所（DSME），亚琛工业大学）；Institute of Climate and Energy Systems (ICE), Energy Systems Engineering (ICE-1), Forschungszentrum Jülich GmbH（气候与能源系统研究所（ICE），能源系统工程（ICE-1），焦耳研究中心有限公司）
Reinforcement learning is a promising approach to learning control policies for performing complex multi-agent robotics tasks. However, a policy learned in simulation often fails to guarantee even simple safety properties such as obstacle avoidance. To ensure safety, we propose multi-agent model predictive shielding (MAMPS), an algorithm that provably guarantees safety for an arbitrary learned policy. In particular, it operates by using the learned policy as often as possible, but instead uses a backup policy in cases where it cannot guarantee the safety of the learned policy. Using a multi-ag…
Ain Shams University（艾因夏姆斯大学）；Jacobs University（雅各布大学）；KTH Royal Institute of Technology（KTH皇家理工学院）
Reinforcement learning (RL) algorithms can achieve state-of-the-art performance in decision-making and continuous control tasks. However, applying RL algorithms on safety-critical systems still needs to be well justified due to the exploration nature of many RL algorithms, especially when the model of the robot and the environment are unknown. To address this challenge, we propose a data-driven safety layer that acts as a filter for unsafe actions. The safety layer uses a data-driven predictive controller to enforce safety guarantees for RL policies during training and after deployment. The RL…
GRASP Lab, University of Pennsylvania, USA（宾夕法尼亚大学GRASP实验室）；Department of Computer and Information Science, University of Pennsylvania, USA（宾夕法尼亚大学计算机与信息科学系（注：根据机构粒度要求，这里提取到大学级别，即“宾夕法尼亚大学”，但原文明确写了具体部门，所以保留原文部门名+大学的组合））
This paper proposes a framework for safe reinforcement learning that can handle stochastic nonlinear dynamical systems. We focus on the setting where the nominal dynamics are known, and are subject to additive stochastic disturbances with known distribution. Our goal is to ensure the safety of a control policy trained using reinforcement learning, e.g., in a simulated environment. We build on the idea of model predictive shielding (MPS), where a backup controller is used to override the learned policy as needed to ensure safety. The key challenge is how to compute a backup policy in the contex…
University of Pennsylvania（宾夕法尼亚大学）；Deapartment of Computer and Information Science（计算机与信息科学系）
Reinforcement learning is a promising approach to synthesizing policies for challenging robotics tasks. A key problem is how to ensure safety of the learned policy---e.g., that a walking robot does not fall over or that an autonomous car does not run into an obstacle. We focus on the setting where the dynamics are known, and the goal is to ensure that a policy trained in simulation satisfies a given safety constraint. We propose an approach, called model predictive shielding (MPS), that switches on-the-fly between a learned policy and a backup policy to ensure safety. We prove that our approac…
We propose the use of Bayesian networks, which provide both a mean value and an uncertainty estimate as output, to enhance the safety of learned control policies under circumstances in which a test-time input differs significantly from the training set. Our algorithm combines reinforcement learning and end-to-end imitation learning to simultaneously learn a control policy as well as a threshold over the predictive uncertainty of the learned model, with no hand-tuning required. Corrective action, such as a return of control to the model predictive controller or human expert, is taken when the u…
Predictive Maneuver Planning with Deep Reinforcement Learning (PMP-DRL) for comfortable and safe autonomous driving
Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science（印度科学学院罗伯特·博世信息物理系统中心）；Indian Institute of Science（印度科学学院）；PES university（PES大学）
TU Darmstadt（达姆施塔特工业大学）；Otto-von-Guericke-Universität Magdeburg（奥托·冯·格里克马格德堡大学）
Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation. We propose a learning-supported model predictive force and motion control scheme that provides stochastic safety guarantees while adapting to changing situations. Gaussian processes are used to learn the uncertain relations that map the robot's states to the forces and moments. The model predictive controller uses these Gaussian process models to achieve pre…
Multi-Step Model Predictive Safety Filters: Reducing Chattering by Increasing the Prediction Horizon
University of Toronto（多伦多大学）；University of Toronto Robotics Institute（多伦多大学机器人研究所）；Vector Institute for Artificial Intelligence（向量人工智能研究所）；Technical University of Munich（慕尼黑工业大学）；Munich Institute for Robotics and Machine Intelligence（慕尼黑机器人与机器智能研究所）
Approximate non-linear model predictive control with safety-augmented neural networks
Institute for Data Science in Mechanical Engineering, RWTH Aachen University（机械工程数据科学研究所，亚琛RWTH大学）；Institute for Dynamic Systems and Control, ETH Zürich（动态系统与控制研究所，苏黎世联邦理工学院）
Towards Safe Learning-Based Non-Linear Model Predictive Control through Recurrent Neural Network Modeling
Institute of Computer Engineering, TU Wien（计算机工程研究所，维也纳技术大学）；AIT Austrian Institute of Technology（奥地利技术研究所）；Institute of Mechanics and Mechatronics, TU Wien（机械与机电系统研究所，维也纳技术大学）
Predictive Semantic Safety: From Visual Physical Reasoning to Safety-Critical Control
University of Michigan（密歇根大学）；King Abdullah University of Science and Technology (KAUST)（阿卜杜拉国王科技大学）；Dalle Molle Institute for Artificial Intelligence Research (IDSIA)（达勒莫尔人工智能研究所）；Università della Svizzera italiana (USI)（瑞士意大利语区大学）；Scuola universitaria professionale della Svizzera italiana (SUPSI)（瑞士意大利语区应用科学与艺术大学）
The prediction of workers' safety behaviour can help identify vulnerable workers who intend to undertake unsafe behaviours and be useful in the design of management practices to minimise the occurrence of accidents. The latest literature has evidenced that there is within-population diversity that leads people's intended safety behaviours in the workplace, which are found to vary among individuals as a function of their personality traits. In this study, an innovative forecasting model, which employs neural network algorithms, is developed to numerically simulate the predictive relationship be…
