Develops and tests the first effective safeguard for analytic gradient-based provably safe RL, showing safe training on three control tasks without performance loss.
Adaptive horizon actor-critic for policy learning in contact- rich differentiable simulation,
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Leveraging Analytic Gradients in Provably Safe Reinforcement Learning
Develops and tests the first effective safeguard for analytic gradient-based provably safe RL, showing safe training on three control tasks without performance loss.