Responsive Safety in Reinforcement Learning by PID Lagrangian Methods

8 Jul 2020Adam StookeJoshua AchiamPieter Abbeel

Lagrangian methods are widely used algorithms for constrained optimization problems, but their learning dynamics exhibit oscillations and overshoot which, when applied to safe reinforcement learning, leads to constraint-violating behavior during agent training. We address this shortcoming by proposing a novel Lagrange multiplier update method that utilizes derivatives of the constraint function... (read more)

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