神经 HJ 安全证书的枚举引导训练方法

Enumeration-Guided Training of Neural Hamilton-Jacobi Safety Certificates

Hamilton-Jacobi (HJ) reachability analysis offers formal safety guarantees for control systems, but training accurate neural certificates remains difficult, particularly when unsafe regions are hard to characterize. We propose a verification-guided training framework that addresses this by using probabilistic enumeration of safety constraints to detect forward-invariance violations, i.e., states where the learned certificate incorrectly classifies unsafe behavior. This produces a compact, targeted set of counterexamples that more precisely captures the failure boundary than inputs generated by standard adversarial attack methods. Crucially, using this representation to fine-tune a pretrained HJ value function yields larger certified regions and reduces certification time across all tested benchmarks. We further introduce a shielding mechanism based on the refined certificates to enforce safety constraints at deployment time. We evaluate the proposed safety filter in a realistic, physics-based Isaac Sim environment and through real-world autonomous racing experiments, achieving zero safety constraint violations compared to a nominal controller and a backup policy based on Linear Quadratic Regulation (LQR). These results demonstrate the effectiveness of the proposed shielding mechanism in ensuring safe operation under high-speed, safety-critical conditions.