Dual-Window Smoothing uses an execution window for deterministic smoothness and a value window to correct critic bias, plus a first-order temporal regularizer, to achieve smoother RL control than explicit chunking or standard baselines.
Trial without Error: Towards Safe Reinforcement Learning via Human Intervention
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abstract
AI systems are increasingly applied to complex tasks that involve interaction with humans. During training, such systems are potentially dangerous, as they haven't yet learned to avoid actions that could cause serious harm. How can an AI system explore and learn without making a single mistake that harms humans or otherwise causes serious damage? For model-free reinforcement learning, having a human "in the loop" and ready to intervene is currently the only way to prevent all catastrophes. We formalize human intervention for RL and show how to reduce the human labor required by training a supervised learner to imitate the human's intervention decisions. We evaluate this scheme on Atari games, with a Deep RL agent being overseen by a human for four hours. When the class of catastrophes is simple, we are able to prevent all catastrophes without affecting the agent's learning (whereas an RL baseline fails due to catastrophic forgetting). However, this scheme is less successful when catastrophes are more complex: it reduces but does not eliminate catastrophes and the supervised learner fails on adversarial examples found by the agent. Extrapolating to more challenging environments, we show that our implementation would not scale (due to the infeasible amount of human labor required). We outline extensions of the scheme that are necessary if we are to train model-free agents without a single catastrophe.
fields
cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
Rule-based high-level guidance combined with goal-conditioned reinforcement learning enables safer and more efficient online adaptation for UAV search-and-rescue tasks under limited simulation training.
citing papers explorer
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Implicit Action Chunking for Smooth Continuous Control
Dual-Window Smoothing uses an execution window for deterministic smoothness and a value window to correct critic bias, plus a first-order temporal regularizer, to achieve smoother RL control than explicit chunking or standard baselines.
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Rule-based High-Level Coaching for Goal-Conditioned Reinforcement Learning in Search-and-Rescue UAV Missions Under Limited-Simulation Training
Rule-based high-level guidance combined with goal-conditioned reinforcement learning enables safer and more efficient online adaptation for UAV search-and-rescue tasks under limited simulation training.