evannsmc/rtd-rax repository overview

⁠RTD-RAX

RTD-RAX is a runtime-assurance extension of Reachability-based Trajectory Design (RTD) that replaces conservative offline reachable sets with fast online safety certification via mixed-monotone reachability (immrax⁠).

Paper: arXiv:2603.21635⁠

Source: github.com/evannsm/rtd-rax⁠

Documentation: evannsm.github.io/ws_RTD⁠

⁠What's Included

This image ships a complete environment for running all RTD-RAX case studies:

• Base: osrf/ros:jazzy-desktop-full
• Python (venv): NumPy, SciPy, Matplotlib, Shapely, JAX (CPU), immrax
• System: libcdd-dev, libgmp-dev

⁠Quick Start

git clone https://github.com/evannsm/rtd-rax.git && cd rtd-rax/docker
make pull             # pulls this image and tags it locally
make run_gui          # starts container with X11 forwarding for plots

For GUI plotting on Linux/X11, allow Docker access first:

xhost +local:docker

⁠Run Examples

make rtd-gap                           # standard FRS — too conservative, no path found
make rtd-gap FRS=noerror               # noerror FRS — feasible path found
make rtd-gap-verify FRS=noerror        # + immrax verification (safe)
make rtd-case2-suite                   # Case 2 representative + two-repair outputs
make rtd-disturbance-compare           # disturbance course comparison

See the full target and parameter reference⁠ for all available experiments and manuscript figure generation targets.

⁠License

MIT