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arXiv · 2102.10643

Safe Reinforcement Learning Using Robust Action Governor

Yutong Li·Nan Li·H. Eric Tseng·Anouck Girard·Dimitar Filev·Ilya Kolmanovsky
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Abstract

Reinforcement Learning (RL) is essentially a trial-and-error learning procedure which may cause unsafe behavior during the exploration-and-exploitation process. This hinders the application of RL to real-world control problems, especially to those for safety-critical systems. In this paper, we introduce a framework for safe RL that is based on integration of a RL algorithm with an add-on safety supervision module, called the Robust Action Governor (RAG), which exploits set-theoretic techniques and online optimization to manage safety-related requirements during learning. We illustrate this proposed safe RL framework through an application to automotive adaptive cruise control.

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Yutong Li, Nan Li, H. Eric Tseng, Anouck Girard, Dimitar Filev, Ilya Kolmanovsky. 2021-02-21. Safe Reinforcement Learning Using Robust Action Governor. https://arxiv.org/abs/2102.10643

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