The paper introduces Gradient-based Estimation (GBE), a Taylor-expansion method using analytic trajectory gradients, and the trust-region algorithm CGPO for safe RL with finite-horizon constraints.
Robots that interact with humans: a review of safety technologies and standards
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Safe Reinforcement Learning using Finite-Horizon Gradient-based Estimation
The paper introduces Gradient-based Estimation (GBE), a Taylor-expansion method using analytic trajectory gradients, and the trust-region algorithm CGPO for safe RL with finite-horizon constraints.