Reachability-Based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control
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DOI: 10.1109/lra.2021.3063989
Abstract: Reinforcement Learning (RL) algorithms have achieved remarkable performance in decision making and control tasks by reasoning about long-term, cumulative reward using trial and error. However, during RL training, applying this trial-and-error approach to real-world robots… read more here.
Keywords: reachability based; reinforcement learning; control; based trajectory ... See more keywords