Safe Reinforcement Learning of Dynamic High-Dimensional Robotic Tasks: Navigation, Manipulation, Interaction
Puze Liu,Kuo Zhang,Davide Tateo,Snehal Jauhri,Zhiyuan Hu,Jan Peters,Georgia Chalvatzaki,Puze Liu,Kuo Zhang,Davide Tateo,Snehal Jauhri,Zhiyuan Hu,Jan Peters,Georgia Chalvatzaki
Safety is a fundamental property for the real-world deployment of robotic platforms. Any control policy should avoid dangerous actions that could harm the environment, humans, or the robot itself. In reinforcement learning (RL), safety is crucial when exploring a new environment to learn a new skill. This paper introduces a new formulation of safe exploration for robotic RL in the tangent space of...
