Probabilistic model predictive safety certification for learning-based control

Understand

Reinforcement learning (RL) methods have demonstrated their efficiency in simulation environments.

• However, many applications for which RL offers great potential, such as autonomous driving, are also safety critical and require a certified closed-loop behavior in order to meet safety specifications in the presence of physical constraints.
• This paper introduces a concept, called probabilistic model predictive safety certification (PMPSC), which can be combined with any RL algorithm and provides provable safety certificates in terms of state and input chance constraints for potentially large-scale systems.
• The certificate is realized through a stochastic tube that safely connects the current system state with a terminal set of states, that is known to be safe.