Kernel-based learning of safety certificates

Problem statement

How to learn a safety certificate for a system with unknown stochastic dynamics?

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Problem statement

More formally, we are interfacing with

• state space $\mathcal{X} \sube \mathbb{R}^{d_x}$,
• control input space $\mathcal{U} \sube \mathbb{R}^{d_u}$,
• a probability measure $P_w$ over $\mathcal{W} \sube \mathbb{R}^{d_w}$,
• a transition function $f: \mathcal{X} \times \mathcal{U} \times \mathcal{W} \to \mathcal{X}$

such that the, given the current state $x_t \in \mathcal{X}$ and control input $u_t \in \mathcal{U}$, the next state $x_{t+1} \in \mathcal{X}$ is given by

Barrier certificates (BCs)

System safety can be proven via a barrier certificate.

Barrier certificates (BCs)

More formally, given

• initial set $\mathcal{X}_0 \subseteq \mathcal{X}$,
• unsafe set $\mathcal{X}_u \subseteq \mathcal{X}$,

we want to learn a function $B: \mathcal{X} \to \mathbb{R}$ and constants $\gamma \ge \eta \ge 0$, $c \ge 0$ such that

Barrier certificates (BCs)

If the barrier exists, for the horizon $T \in \mathbb{N}$ we have

Data-driver Barrier Certificates

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Reproducing kernels

A symmetric positive definite function $k: \mathcal{X} \times \mathcal{X} \to \mathbb{R}$ defines a reproducing kernel Hilbert space (RKHS) $\mathcal{H}_{k_\mathcal{X}}$ of functions $f: \mathcal{X} \to \mathbb{R}$.

Kernels have a useful reproducing property:

Family of kernels

Multiple kernels exist, each with different properties.

• Linear kernel: $k(x, y) = x^T y$.
• Polynomial kernel: $k(x, y) = (\gamma x^T y + c)^d$, with $d \in \mathbb{N}$.
• Sigmoid kernel: $k(x, y) = \tanh(\gamma x^T y + c)$.
• Gaussian kernel: $k(x, y) = \sigma_f \exp(-\|x - y\|^2 / (2\sigma_l^2))$.

Kernel conditional mean embeddings

Given two RKHSs $\mathcal{H}_{k_\mathcal{X}}$ and $\mathcal{H}_{k_\mathcal{Y}}$, the CME of a conditional probability measure $\mathbb{P} : \mathcal{X} × B(\mathcal{Y}) \to [0, 1]$ is an $X$-measurable random variable taking values in $\mathcal{H}_{k_\mathcal{Y}}$ given by

Data driver barrier formulation

Using the CME, we can rewrite the last barrier condition as

The robustness is given by the last term. It depends on the maximum frequency we need to capture the transition function.

From infinite NL to finite LP

The Gaussian kernel can be approximated via a truncated Fourier series expansion

with $n \in \mathbb{N}, b, q, \omega \in \mathbb{R}^{n}$.

Lucid

We want to create a tool called Lucid that provides probabilistic guarantees with respect to a system's properties.

It will leverage the techniques we just presented.

It should be easy to use and install without sacrificing performance.

Architecture

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Example

Define the system and sample some points.

N = 1000
# Transition function f
f = lambda x: ...

# State space
X_bounds = RectSet((-3, -2), (2.5, 1))
# Initial set
X_i = MultiSet(
    RectSet((1, -0.5), (2, 0.5)),
    RectSet((-1.8, -0.1), (-1.2, 0.1)),
    RectSet((-1.4, -0.5), (-1.2, 0.1)),
)
# Unsafe set
X_u = MultiSet(
    RectSet((0.4, 0.1), (0.6, 0.5)),
    RectSet((0.4, 0.1), (0.8, 0.3))
)

x_samples = X_bounds.sample(N)
# We get the next state by applying f
xp_samples = f(x_samples)

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Example

Sample some points to train the model to predict the truncated feature map.

# Create a truncated Fourier feature map
tffm = TruncatedFourierFeatureMap(
    num_frequencies=6,  # Include the 0 frequency
    sigma_l=[0.1, 0.2],
    sigma_f=1,
    x_limits=X_bounds,
)

# Apply the feature map to the samples
xp_features = tffm(xp_samples)

# Train the model so that it can predict the feature map
model = KernelRidgeRegressor(
    kernel=GaussianKernel(
        sigma_l=[0.1, 0.2],
        sigma_f=1
    ),
    regularisation=1e-6
)
model.fit(x_samples, xp_features)

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Example

We can now use the model to learn the barrier on a lattice of points.

# Create a lattice of points
# It must be at least 2 times
# the number of frequencies (Nyquist theorem)
x_lattice = X_bounds.lattice(6 * 2, True)
xi_lattice = X_init.lattice(6 * 2, True)
xu_lattice = X_unsafe.lattice(6 * 2, True)

# Obtain the feature maps on both lattices
x_f_lattice = tffm(x_lattice)
xp_f_lattice = model.predict(x_lattice)
xi_f_lattice = tffm(xi_lattice)
xu_f_lattice = tffm(xu_lattice)

# Efficiently gather more points using the FFT
x_f_l_upsampled = fft_upsample(x_f_lattice, 2)
xp_f_l_upsampled = fft_upsample(xp_f_lattice, 2)
xi_f_l_upsampled = fft_upsample(xi_f_lattice, 2)
xu_f_l_upsampled = fft_upsample(xu_f_lattice, 2)

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Example

We can finally learn the barrier by solving a linear program.

# Define the callback function
cb = lambda success, obj_val, sol, eta, c, norm: ...

# Initialise and run the LP
xp_f_l_upsampled = fft_upsample(xp_f_lattice, 2)
x_f_l_upsampled = fft_upsample(x_f_lattice, 2)
xi_f_l_upsampled = fft_upsample(xi_f_lattice, 2)
xu_f_l_upsampled = fft_upsample(xu_f_lattice, 2)
GurobiLinearOptimiser(T=10,
    gamma=1,
    epsilon=0,
    sigma_f=1.0
).solve(
    xi_f_l_upsampled,
    xu_f_l_upsampled,
    x_f_l_upsampled,
    xp_f_l_upsampled,
    ...
    cb,
)

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