The authors introduce affine repulsive RL policies that provably satisfy hard affine state constraints for black-box hybrid dynamical systems with affine reset maps by deriving sufficient closed-loop safety conditions and testing on pendulum and juggler examples.
Sablas: Learning safe control for black- box dynamical systems,
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Learning Control Policies to Provably Satisfy Hard Affine Constraints for Black-Box Hybrid Dynamical Systems
The authors introduce affine repulsive RL policies that provably satisfy hard affine state constraints for black-box hybrid dynamical systems with affine reset maps by deriving sufficient closed-loop safety conditions and testing on pendulum and juggler examples.