论文标题
JAX自动分化的通用运行时间保证的通用框架
A Universal Framework for Generalized Run Time Assurance with JAX Automatic Differentiation
论文作者
论文摘要
随着越来越复杂的自主系统的兴起，由黑匣子AI模型提供动力，运行时间保证（RTA）系统的需求日益增长，这些系统为在线安全过滤提供了不受信任的主控制器输出。目前，RTA的研究往往是临时且僵化的，合作的减少和创新的步伐。本文介绍的安全自主运行时间保证框架为RTA模块提供了标准化的接口，以及一组基于约束的RTA的通用实现，能够在任意动态系统和约束下提供安全保证。该框架围绕JAX构建，利用自动差异来填充基于高级优化的RTA方法，最大程度地减少了用户的努力和错误。为了验证该框架的可行性，显示了对位置和速度的安全限制，对多代理航天器检查问题进行了模拟。
With the rise of increasingly complex autonomous systems powered by black box AI models, there is a growing need for Run Time Assurance (RTA) systems that provide online safety filtering to untrusted primary controller output. Currently, research in RTA tends to be ad hoc and inflexible, diminishing collaboration and the pace of innovation. The Safe Autonomy Run Time Assurance Framework presented in this paper provides a standardized interface for RTA modules and a set of universal implementations of constraint-based RTA capable of providing safety assurance given arbitrary dynamical systems and constraints. Built around JAX, this framework leverages automatic differentiation to populate advanced optimization based RTA methods minimizing user effort and error. To validate the feasibility of this framework, a simulation of a multi-agent spacecraft inspection problem is shown with safety constraints on position and velocity.
