SCPO is a sampling-based weight-space projection algorithm that enforces rollout-evaluated safety constraints in policy optimization and provides a safe-by-induction guarantee from any safe starting point.
Safety Cor- rection from Baseline: Towards the Risk-aware Policy in Robotics via Dual-agent Reinforcement Learning,
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Constrained Policy Optimization via Sampling-Based Weight-Space Projection
SCPO is a sampling-based weight-space projection algorithm that enforces rollout-evaluated safety constraints in policy optimization and provides a safe-by-induction guarantee from any safe starting point.