Learning Deep Neural Network Controllers for Dynamical Systems with Safety Guarantees: Invited Paper

Jyotirmoy V. Deshmukh, James Kapinski, Tomoya Yamaguchi, Danil V. Prokhorov

Abstract: There is recent interest in using deep neural networks (DNNs) for controlling autonomous cyber-physical systems (CPSs). One challenge with this approach is that many autonomous CPS applications are safety-critical, and is not clear if DNNs can proffer safe system behaviors. To address this problem, we present an approach to modify existing (deep) reinforcement learning algorithms to guide the training of those controllers so that the overall system is safe. We present a novel verification-in-the-loop training algorithm that uses the formalism of barrier certificates to synthesize DNN-controllers that are safe by design. We demonstrate a proof-of-concept evaluation of our technique on multiple CPS examples.