Learning to Provably Satisfy High Relative Degree Constraints for Black-Box Systems

Jean-Baptiste Bouvier, Kartik Nagpal, Negar Mehr

Abstract: In this paper, we develop a method for learning a control policy guaranteed to satisfy an affine state constraint of high relative degree in closed loop with a black-box system. Previous reinforcement learning (RL) approaches to satisfy safety constraints either require access to the system model, or assume control affine dynamics, or only discourage violations with reward shaping. Only recently have these issues been addressed with POLICEd RL, which guarantees constraint satisfaction for black-box systems. However, this previous work can only enforce constraints of relative degree 1. To address this gap, we build a novel RL algorithm explicitly designed to enforce an affine state constraint of high relative degree in closed loop with a black-box control system. Our key insight is to make the learned policy be affine around the unsafe set and to use this affine region to dissipate the inertia of the high relative degree constraint. We prove that such policies guarantee constraint satisfaction for deterministic systems and are agnostic to the choice of the RL training algorithm. Our results demonstrate the capacity of our approach to enforce hard constraints in the Gym inverted pendulum and on a space shuttle landing simulation. Website: https://iconlab.negarmehr.com/CDC-POLICEd-RL/