We propose a method to optimise the parameters of a policy which will be used to safely perform a given task in a data-efficient manner. We train a Gaussian process model to capture the system dynamics, based on the PILCO framework. Our model has useful analytic properties, which allow closed form computation of error gradients and estimating the probability of violating given state space constraints. During training, as well as operation, only policies that are deemed safe are implemented on the real system, minimising the risk of failure.
@article{arxiv.1712.05556,
title = {Safe Policy Search with Gaussian Process Models},
author = {Kyriakos Polymenakos and Alessandro Abate and Stephen Roberts},
journal= {arXiv preprint arXiv:1712.05556},
year = {2019}
}
Comments
9 pages, 2 figures, extended version of the paper that was presented in AAMAS 2019, Montreal, Canada