CaR trains robots by maximizing a weighted sum of constraint functions with weights set by Lagrange multipliers, and it successfully taught a six-wheeled telescopic-legged robot to stand up from varied poses.
Benchmarking safe exploration in deep reinforcement learning,
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Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions
CaR trains robots by maximizing a weighted sum of constraint functions with weights set by Lagrange multipliers, and it successfully taught a six-wheeled telescopic-legged robot to stand up from varied poses.