Action aliasing from safety projections harms policy-gradient estimates more severely when the projection is inside the policy than when it is outside, but a penalty term restores competitiveness.
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Safe Reinforcement Learning using Action Projection: Safeguard the Policy or the Environment?
Action aliasing from safety projections harms policy-gradient estimates more severely when the projection is inside the policy than when it is outside, but a penalty term restores competitiveness.