@inproceedings{a29e608e9b3f490fb5ed2ac61693832d,
title = "Neural Simplex Architecture",
abstract = "We present the Neural Simplex Architecture (NSA), a new approach to runtime assurance that provides safety guarantees for neural controllers (obtained e.g. using reinforcement learning) of autonomous and other complex systems without unduly sacrificing performance. NSA is inspired by the Simplex control architecture of Sha et al., but with some significant differences. In the traditional approach, the advanced controller (AC) is treated as a black box; when the decision module switches control to the baseline controller (BC), the BC remains in control forever. There is relatively little work on switching control back to the AC, and there are no techniques for correcting the AC{\textquoteright}s behavior after it generates a potentially unsafe control input that causes a failover to the BC. Our NSA addresses both of these limitations. NSA not only provides safety assurances in the presence of a possibly unsafe neural controller, but can also improve the safety of such a controller in an online setting via retraining, without overly degrading its performance. To demonstrate NSA{\textquoteright}s benefits, we have conducted several significant case studies in the continuous control domain. These include a target-seeking ground rover navigating an obstacle field, and a neural controller for an artificial pancreas system.",
keywords = "Online retraining, Reverse switching, Runtime assurance, Safe reinforcement learning, Simplex architecture",
author = "Phan, {Dung T.} and Radu Grosu and Nils Jansen and Nicola Paoletti and Smolka, {Scott A.} and Stoller, {Scott D.}",
year = "2020",
doi = "10.1007/978-3-030-55754-6_6",
language = "English",
isbn = "978-3-030-55753-9",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer",
pages = "97--114",
editor = "Ritchie Lee and Susmit Jha and Anastasia Mavridou",
booktitle = "NASA Formal Methods - 12th International Symposium, NFM 2020, Proceedings",
note = "12th International Symposium on NASA Formal Methods, NFM 2020 ; Conference date: 11-05-2020 Through 15-05-2020",
}