SHAPO adds a sharpness-aware adjustment to policy optimization that reweights gradients to favor conservative behavior in uncertain areas, yielding better safety-performance tradeoffs on continuous control tasks.
Solving richly con- strained reinforcement learning through state augmentation and reward penalties.arXiv preprint arXiv:2301.11592,
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SHAPO: Sharpness-Aware Policy Optimization for Safe Exploration
SHAPO adds a sharpness-aware adjustment to policy optimization that reweights gradients to favor conservative behavior in uncertain areas, yielding better safety-performance tradeoffs on continuous control tasks.