Exact Imposition of Safety Boundary Conditions in Neural Reachable Tubes
Hamilton-Jacobi (HJ) reachability analysis is a widely adopted verification tool to provide safety and performance guarantees for autonomous systems. However, it involves solving a partial differential equation (PDE) to compute a safety value function, whose computational and memory complexity scales exponentially with the state dimension, making its direct application to large-scale systems intractable. To overcome these challenges, DeepReach, a recently proposed learning-based approach, approximates high-dimensional reachable tubes using neural networks (NNs). While shown to be effective, the accuracy of the learned solution decreases with system complexity. One of the reasons for this degradation is a soft imposition of safety constraints during the learning process, which corresponds to the boundary conditions of the PDE, resulting in inaccurate value functions. In this work, we propose ExactBC, a variant of DeepReach that imposes safety constraints exactly during the learning process by restructuring the overall value function as a weighted sum of the boundary condition and the NN output. Moreover, the proposed variant no longer needs a boundary loss term during the training process, thus eliminating the need to balance different loss terms. We demonstrate the efficacy of the proposed approach in significantly improving the accuracy of the learned value function for four challenging reachability tasks: a rimless wheel system with state resets, collision avoidance in a cluttered environment, autonomous rocket landing, and multi-aircraft collision avoidance.