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Adaptive Safety Filtering for Frozen ACC Policies via Conformal Residual Calibration

arXiv 2609.35415 ↗First posted 28 Sep 2026cs.RO cs.CV cs.SYcited by 0

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Abstract (arXiv)

Frozen adaptive cruise control (ACC) policies can violate constraints when deployment dynamics differ from their training conditions. We propose residual-aware conformal action filtering (RACF), which calibrates residuals of a fixed nominal predictor and converts their quantile into an operating margin for finite-model action projection. Completed transitions update margins and candidate selection without retraining the policy. In a registered comparison over 2,400 controller-trial units, Adaptive RACF achieves 94.3% episode safety, improving by 19.9 percentage points over the evaluated nominal CBF-QP baseline while reducing projection frequency from 8.11% to 6.63%. A controlled study isolates a 4.54-point improvement from residual-margin injection. In a separate matched-hardware evaluation, Adaptive reduces mean amortized rollout time by 21.2% relative to Robust CBF-QP, with 161/180 versus 170/180 safe episodes. We characterize conditions linking one-step residual coverage to constraint satisfaction and quantify the observed safety-computation trade-offs.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 19 of its 24 references that are in the map. First posted on arXiv 28 Sep 2026.

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References · 19

  1. 2020Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problemscited by 1,920
  2. 2021Offline Reinforcement Learning with Implicit Q-Learningcited by 1,293
  3. 2021Deep Reinforcement Learning at the Edge of the Statistical Precipicecited by 807
  4. 2019Conformal Prediction Under Covariate Shiftcited by 519
  5. 2017Safe Reinforcement Learning via Shieldingcited by 449
  6. 2021Adaptive Conformal Inference Under Distribution Shiftcited by 375
  7. 2022Conformal prediction beyond exchangeabilitycited by 355
  8. 2022Conformal Risk Controlcited by 299
  9. 2016Control Barrier Function Based Quadratic Programs for Safety Critical Systemscited by 287
  10. 2018Safe Exploration in Continuous Action Spacescited by 247
  11. 2017On a Formal Model of Safe and Scalable Self-driving Carscited by 131
  12. 2022Safe Planning in Dynamic Environments using Conformal Predictioncited by 119
7 more
  1. 2018A predictive safety filter for learning-based control of constrained nonlinear dynamical systemscited by 118
  2. 2023Robust Conformal Prediction for STL Runtime Verification under Distribution Shiftcited by 15
  3. 2024Safety-Critical Control with Uncertainty Quantification using Adaptive Conformal Predictioncited by 7
  4. 2025Dual-Robust Cross-Domain Offline Reinforcement Learning Against Dynamics Shiftscited by 6
  5. 2023On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functionscited by 2
  6. 2026When Environments Shift: Safe Planning with Generative Priors and Robust Conformal Predictioncited by 2
  7. 2026Conformal Signal Temporal Logic for Robust Reinforcement Learning Control: A Case Studycited by 1

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