Adaptive Safety Filtering for Frozen ACC Policies via Conformal Residual Calibration

Zhiruo Zhou; Rigaudiere Z. Li; Chen Xiwen; Yucheng Chen; Xiaojun Zhu; Houde Liu

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arXiv · 2609.35415

Adaptive Safety Filtering for Frozen ACC Policies via Conformal Residual Calibration

Zhiruo Zhou·Rigaudiere Z. Li·Chen Xiwen·Yucheng Chen·Xiaojun Zhu·Houde Liu

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Abstract

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.

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Zhiruo Zhou, Rigaudiere Z. Li, Chen Xiwen, Yucheng Chen, Xiaojun Zhu, Houde Liu. 2026-09-28. Adaptive Safety Filtering for Frozen ACC Policies via Conformal Residual Calibration. https://arxiv.org/abs/2609.35415

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