ShardNet enforces non-convex polyhedral safety constraints in neural controllers by construction via a differentiable projection layer, achieving 100% verified safety and over 3x larger safe sets than prior methods on double integrator benchmarks.
State- action control barrier functions: Imposing safety on learning- based control with low online computational costs,
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ShardNet: Training Neural Controllers with Hard, Non-Convex Constraints
ShardNet enforces non-convex polyhedral safety constraints in neural controllers by construction via a differentiable projection layer, achieving 100% verified safety and over 3x larger safe sets than prior methods on double integrator benchmarks.