Related papers: Safe Exploration Method for Reinforcement Learning…
This paper addresses the problem of maintaining safety during training in Reinforcement Learning (RL), such that the safety constraint violations are bounded at any point during learning. In a variety of RL applications the safety of the…
Reinforcement learning has been successfully used to solve difficult tasks in complex unknown environments. However, these methods typically do not provide any safety guarantees during the learning process. This is particularly problematic,…
Safe exploration aims at addressing the limitations of Reinforcement Learning (RL) in safety-critical scenarios, where failures during trial-and-error learning may incur high costs. Several methods exist to incorporate external knowledge or…
We consider the problem of reinforcement learning under safety requirements, in which an agent is trained to complete a given task, typically formalized as the maximization of a reward signal over time, while concurrently avoiding…
Reinforcement learning algorithms typically necessitate extensive exploration of the state space to find optimal policies. However, in safety-critical applications, the risks associated with such exploration can lead to catastrophic…
Deploying deep reinforcement learning in safety-critical settings requires developing algorithms that obey hard constraints during exploration. This paper contributes a first approach toward enforcing formal safety constraints on end-to-end…
In this paper, we consider the important problem of safe exploration in reinforcement learning. While reinforcement learning is well-suited to domains with complex transition dynamics and high-dimensional state-action spaces, an additional…
In reinforcement learning (RL) algorithms, exploratory control inputs are used during learning to acquire knowledge for decision making and control, while the true dynamics of a controlled object is unknown. However, this exploring property…
Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…
Safe exploration presents a major challenge in reinforcement learning (RL): when active data collection requires deploying partially trained policies, we must ensure that these policies avoid catastrophically unsafe regions, while still…
Reinforcement learning (RL) is ubiquitous in the development of modern AI systems. However, state-of-the-art RL agents require extensive, and potentially unsafe, interactions with their environments to learn effectively. These limitations…
Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…
In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…
Safe exploration is a common problem in reinforcement learning (RL) that aims to prevent agents from making disastrous decisions while exploring their environment. A family of approaches to this problem assume domain knowledge in the form…
The exploration \& exploitation dilemma poses significant challenges in reinforcement learning (RL). Recently, curiosity-based exploration methods achieved great success in tackling hard-exploration problems. However, they necessitate…
Exploration is an essential component of reinforcement learning algorithms, where agents need to learn how to predict and control unknown and often stochastic environments. Reinforcement learning agents depend crucially on exploration to…
Safety is a primary concern when applying reinforcement learning to real-world control tasks, especially in the presence of external disturbances. However, existing safe reinforcement learning algorithms rarely account for external…
Safety is one of the main challenges in applying reinforcement learning to realistic environmental tasks. To ensure safety during and after training process, existing methods tend to adopt overly conservative policy to avoid unsafe…
A recent body of work addresses safety constraints in explore-and-exploit systems. Such constraints arise where, for example, exploration is carried out by individuals whose welfare should be balanced with overall welfare. In this paper, we…
We consider a class of reinforcement-learning systems in which the agent follows a behavior policy to explore a discrete state-action space to find an optimal policy while adhering to some restriction on its behavior. Such restriction may…