ConstrainedZero: Chance-Constrained POMDP Planning using Learned Probabilistic Failure Surrogates and Adaptive Safety Constraints

• URL: http://arxiv.org/abs/2405.00644v1
• Date: Wed, 1 May 2024 17:17:22 GMT
• Title: ConstrainedZero: Chance-Constrained POMDP Planning using Learned Probabilistic Failure Surrogates and Adaptive Safety Constraints
• Authors: Robert J. Moss, Arec Jamgochian, Johannes Fischer, Anthony Corso, Mykel J. Kochenderfer,
• Abstract summary: This work introduces the ConstrainedZero policy algorithm that solves CC-POMDPs in belief space by learning neural network approximations of the optimal value and policy. Results show that by separating safety constraints from the objective we can achieve a target level of safety without optimizing the balance between rewards and costs.
• Score: 34.9739641898452
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: To plan safely in uncertain environments, agents must balance utility with safety constraints. Safe planning problems can be modeled as a chance-constrained partially observable Markov decision process (CC-POMDP) and solutions often use expensive rollouts or heuristics to estimate the optimal value and action-selection policy. This work introduces the ConstrainedZero policy iteration algorithm that solves CC-POMDPs in belief space by learning neural network approximations of the optimal value and policy with an additional network head that estimates the failure probability given a belief. This failure probability guides safe action selection during online Monte Carlo tree search (MCTS). To avoid overemphasizing search based on the failure estimates, we introduce $\Delta$-MCTS, which uses adaptive conformal inference to update the failure threshold during planning. The approach is tested on a safety-critical POMDP benchmark, an aircraft collision avoidance system, and the sustainability problem of safe CO$_2$ storage. Results show that by separating safety constraints from the objective we can achieve a target level of safety without optimizing the balance between rewards and costs.

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