Temporal Logic Formalisation of ISO 34502 Critical Scenarios: Modular Construction with the RSS Safety Distance

As the development of autonomous vehicles progresses, efficient safety assurance methods become increasingly necessary. Safety assurance methods such as monitoring and scenario-based testing call for formalisation of driving scenarios. In this paper, we develop a temporal-logic formalisation of an important class of critical scenarios in the ISO standard 34502. We use signal temporal logic (STL) as a logical formalism. Our formalisation has two main features: 1) modular composition of logical formulas for systematic and comprehensive formalisation (following the compositional methodology of ISO 34502); 2) use of the RSS distance for defining danger. We find our formalisation comes with few parameters to tune thanks to the RSS distance. We experimentally evaluated our formalisation; using its results, we discuss the validity of our formalisation and its stability with respect to the choice of some parameter values.

Formal Verification of Safety Architectures for Automated Driving

Safety architectures play a crucial role in the safety assurance of automated driving vehicles (ADVs). They can be used as safety envelopes of black-box ADV controllers, and for graceful degradation from one ODD to another. Building on our previous work on the formalization of responsibility-sensitive safety (RSS), we introduce a novel program logic that accommodates assume-guarantee reasoning and fallback-like constructs. This allows us to formally define and prove the safety of existing and novel safety architectures. We apply the logic to a pull over scenario and experimentally evaluate the resulting safety architecture.

Formal Verification of Intersection Safety for Automated Driving

We build on our recent work on formalization of responsibility-sensitive safety (RSS) and present the first formal framework that enables mathematical proofs of the safety of control strategies in intersection scenarios. Intersection scenarios are challenging due to the complex interaction between vehicles; to cope with it, we extend the program logic dFHL in the previous work and introduce a novel formalism of hybrid control flow graphs on which our algorithm can automatically discover an RSS condition that ensures safety. An RSS condition thus discovered is experimentally evaluated; we observe that it is safe (as our safety proof says) and is not overly conservative.

Dynamic Shielding for Reinforcement Learning in Black-Box Environments

It is challenging to use reinforcement learning (RL) in cyber-physical systems due to the lack of safety guarantees during learning. Although there have been various proposals to reduce undesired behaviors during learning, most of these techniques require prior system knowledge, and their applicability is limited. This paper aims to reduce undesired behaviors during learning without requiring any prior system knowledge. We propose dynamic shielding: an extension of a model-based safe RL technique called shielding using automata learning. The dynamic shielding technique constructs an approximate system model in parallel with RL using a variant of the RPNI algorithm and suppresses undesired explorations due to the shield constructed from the learned model. Through this combination, potentially unsafe actions can be foreseen before the agent experiences them. Experiments show that our dynamic shield significantly decreases the number of undesired events during training.

Goal-Aware RSS for Complex Scenarios via Program Logic

We introduce a goal-aware extension of responsibility-sensitive safety (RSS), a recent methodology for rule-based safety guarantee for automated driving systems (ADS). Making RSS rules guarantee goal achievement -- in addition to collision avoidance as in the original RSS -- requires complex planning over long sequences of manoeuvres. To deal with the complexity, we introduce a compositional reasoning framework based on program logic, in which one can systematically develop RSS rules for smaller subscenarios and combine them to obtain RSS rules for bigger scenarios. As the basis of the framework, we introduce a program logic dFHL that accommodates continuous dynamics and safety conditions. Our framework presents a dFHL-based workflow for deriving goal-aware RSS rules; we discuss its software support, too. We conducted experimental evaluation using RSS rules in a safety architecture. Its results show that goal-aware RSS is indeed effective in realising both collision avoidance and goal achievement.

Responsibility-Sensitive Safety: an Introduction with an Eye to Logical Foundations and Formalization

Responsibility-sensitive safety (RSS) is an approach to the safety of automated driving systems (ADS). It aims to introduce mathematically formulated safety rules, compliance with which guarantees collision avoidance as a mathematical theorem. However, despite the emphasis on mathematical and logical guarantees, the logical foundations and formalization of RSS are largely an unexplored topic of study. In this paper, we present an introduction to RSS, one that we expect will bridge between different research communities and pave the way to a logical theory of RSS, its mathematical formalization, and software tools of practical use.

Fibrational Initial Algebra-Final Coalgebra Coincidence over Initial Algebras: Turning Verification Witnesses Upside Down

The coincidence between initial algebras (IAs) and final coalgebras (FCs) is a phenomenon that underpins various important results in theoretical computer science. In this paper, we identify a general fibrational condition for the IA-FC coincidence, namely in the fiber over an initial algebra in the base category. Identifying (co)algebras in a fiber as (co)inductive predicates, our fibrational IA-FC coincidence allows one to use coinductive witnesses (such as invariants) for verifying inductive properties (such as liveness). Our general fibrational theory features the technical condition of stability of chain colimits; we extend the framework to the presence of a monadic effect, too, restricting to fibrations of complete lattice-valued predicates. Practical benefits of our categorical theory are exemplified by new "upside-down" witness notions for three verification problems: probabilistic liveness, and acceptance and model-checking with respect to bottom-up tree automata.

Control-Data Separation and Logical Condition Propagation for Efficient Inference on Probabilistic Programs

We introduce a novel sampling algorithm for Bayesian inference on imperative probabilistic programs. It features a hierarchical architecture that separates control flows from data: the top-level samples a control flow, and the bottom level samples data values along the control flow picked by the top level. This separation allows us to plug various language-based analysis techniques in probabilistic program sampling; specifically, we use logical backward propagation of observations for sampling efficiency. We implemented our algorithm on top of Anglican. The experimental results demonstrate our algorithm's efficiency, especially for programs with while loops and rare observations.

Predictive PER: Balancing Priority and Diversity towards Stable Deep Reinforcement Learning

Prioritized experience replay (PER) samples important transitions, rather than uniformly, to improve the performance of a deep reinforcement learning agent. We claim that such prioritization has to be balanced with sample diversity for making the DQN stabilized and preventing forgetting. Our proposed improvement over PER, called Predictive PER (PPER), takes three countermeasures (TDInit, TDClip, TDPred) to (i) eliminate priority outliers and explosions and (ii) improve the sample diversity and distributions, weighted by priorities, both leading to stabilizing the DQN. The most notable among the three is the introduction of the second DNN called TDPred to generalize the in-distribution priorities. Ablation study and full experiments with Atari games show that each countermeasure by its own way and PPER contribute to successfully enhancing stability and thus performance over PER.

Genetic Algorithm for the Weight Maximization Problem on Weighted Automata

The weight maximization problem (WMP) is the problem of finding the word of highest weight on a weighted finite state automaton (WFA). It is an essential question that emerges in many optimization problems in automata theory. Unfortunately, the general problem can be shown to be undecidable, whereas its bounded decisional version is NP-complete. Designing efficient algorithms that produce approximate solutions to the WMP in reasonable time is an appealing research direction that can lead to several new applications including formal verification of systems abstracted as WFAs. In particular, in combination with a recent procedure that translates a recurrent neural network into a weighted automaton, an algorithm for the WMP can be used to analyze and verify the network by exploiting the simpler and more compact automata model. In this work, we propose, implement and evaluate a metaheuristic based on genetic algorithms to approximate solutions to the WMP. We experimentally evaluate its performance on examples from the literature and show its potential on different applications.