[2605.16588] Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
[Submitted on 15 May 2026]
Title:Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
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Abstract:Safety-critical autonomy in unstructured environments poses significant challenges for online safety certification under evolving constraints. We propose Policy Library Control Barrier Function~(PL-CBF), a runtime safety filter that evaluates a library of fallback policies via parallel finite-horizon rollouts, selects the least invasive safe mode, and enforces safety by solving a quadratic program that minimally modifies a nominal policy. We provide a theoretical analysis based on a finite-horizon language metric over closed-loop behaviors, characterizing policy-library coverage requirements for certifying finite-horizon safety. Simulations on a planar double-integrator (4 states), highway driving with abrupt friction changes using a realistic nonlinear vehicle model (8 states), and 3D quadrotor navigation in crowded dynamic environments (12 states) demonstrate improved safety coverage over single-policy safety filters while retaining millisecond-level runtime.
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Subjects:
Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2605.16588 [cs.RO]
(or arXiv:2605.16588v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.16588
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Taekyung Kim [view email] [v1] Fri, 15 May 2026 19:45:52 UTC (4,520 KB)
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