SSkP uses PU learning to build a skill risk predictor from demonstrations and a cross-entropy risk planner to select safe skills during online RL, outperforming prior methods on most tested MuJoCo tasks.
Constrained policy optimization
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Skill-based Safe Reinforcement Learning with Risk Planning
SSkP uses PU learning to build a skill risk predictor from demonstrations and a cross-entropy risk planner to select safe skills during online RL, outperforming prior methods on most tested MuJoCo tasks.