Protected interaction
CBF–MPC certifies policy references before they reach the controller and records the certified transition for learning.
Safe online adaptive refinement
Beyond safe execution.
SOAR-Flow helps an offline-initialized driving policy improve online while every reference is checked before execution. Watch the complete simulation and UGV evidence below.
Follow the evidence
Framework: Flow reference, CBF–MPC certification, calibrated values, and adaptive guidance.
Simulation: policy-only failure, protected execution, online improvement, and near correction-free driving.
UGV: blocked-side bypass and the successive-turn 8-shaped maneuver.
Held-out cornering transfer, comparison, and final execution.
What SOAR-Flow contributes
Value calibration
Gaussian return variability smooths the Cal-QL calibration pressure and reduces policy degradation during online updates.
Adaptive guidance
Corrections teach feasible recovery while intervention-to-go prediction gradually reduces auxiliary guidance as dependence falls.
Reported results
352.3 ± 2.1
final simulation return0.72 ± 0.12%
simulation correction rate95%
held-out cornering safe success