论文标题
通过SIM2REAL GAP定量验证安全 - 关键控制器验证
Safety-Critical Controller Verification via Sim2Real Gap Quantification
论文作者
论文摘要
乔治·盒子（George Box）的著名报价指出：“所有模型都是错误的，但有些是有用的。”为了开发更有用的模型，我们量化了给定模型代表感兴趣系统的不准确性，以便我们可以利用此数量来促进控制器的合成和验证。具体而言，我们开发了一个步骤，该过程识别具有最小概率的SIM2REAL间隙。使用我们确定的SIM2REAL差距增强名义模型会产生一个不确定的模型，我们证明这是系统行为的准确代表。我们利用这种不确定的模型使用概率验证方法合成和验证模拟中的控制器。该管道生产的控制器具有任意高的可能性，即在不需要硬件测试的情况下实现系统硬件所需的安全行为，除了SIM2REAL GAP识别所需的安全性。我们还展示了我们在两个硬件平台上工作的过程 - 机器人和四倍。
The well-known quote from George Box states that: "All models are wrong, but some are useful." To develop more useful models, we quantify the inaccuracy with which a given model represents a system of interest, so that we may leverage this quantity to facilitate controller synthesis and verification. Specifically, we develop a procedure that identifies a sim2real gap that holds with a minimum probability. Augmenting the nominal model with our identified sim2real gap produces an uncertain model which we prove is an accurate representor of system behavior. We leverage this uncertain model to synthesize and verify a controller in simulation using a probabilistic verification approach. This pipeline produces controllers with an arbitrarily high probability of realizing desired safe behavior on system hardware without requiring hardware testing except for those required for sim2real gap identification. We also showcase our procedure working on two hardware platforms - the Robotarium and a quadruped.
