EigenSafe: A Spectral Framework for Learning-Based Stochastic Safety Filtering

Inkyu Jang, Jonghae Park, Chams Eddine Mballo, Sihyun Cho, Claire Tomlin, H. Jin Kim

Keywords: Robot Safety, Safety-Critical Control, Stochastic Systems

Abstract: We present EigenSafe, an operator-theoretic framework for learning-enabled safety-critical control for stochastic systems. In many robotic systems where dynamics are best modeled as stochastic systems due to factors such as sensing noise and environmental disturbances, it is challenging for conventional methods such as Hamilton-Jacobi reachability and control barrier functions to provide a holistic measure of safety. We derive a linear operator governing the dynamic programming principle for safety probability, and find that its dominant eigenpair provides information about safety for both individual states and the overall closed-loop system. The proposed learning framework, called EigenSafe, jointly learns this dominant eigenpair and a safe backup policy in an offline manner. The learned eigenfunction is then used to construct a safety filter that detects potentially unsafe situations and falls back to the backup policy. The framework is validated in three simulated stochastic safety-critical control tasks.

Submission Number: 20