Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks

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Thananjeyan, Brijen; Balakrishna, Ashwin; Rosolia, Ugo; Li, Felix; McAllister, Rowan; Gonzalez, Joseph E.; Levine, Sergey; Borrelli, Francesco; Goldberg, Ken;
  • Subject: Statistics - Machine Learning | Computer Science - Machine Learning | Computer Science - Artificial Intelligence | Computer Science - Robotics

Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncertainty, which makes it hard to enforce constraints during learning. We address these issues... View more
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