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.
The guard condition is G=x b −x p ≤0 , and the reset map is R(s) = [xb,(1 +e) ˙x p −e˙xb, x p,˙x p]⊤ where e∈[0,1] is the coefficient of restitution
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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.