Jiatao Ding

PPO-EAL: Exact Augmented Lagrangian Proximal Policy Optimization for Safe Robotic Control

Jiatao Ding, Songqun Gao, Andrea Del Prete, Matteo Saveriano

Reinforcement learning (RL) has emerged as a promising solution to accomplish complex robotic control tasks; however, most of the current work ignores the safety requirements. Safe RL seeks to maximize task performance while satisfying explicit physical constraints, but current a…Read more