GOSAFEOPT : Scalable safe exploration for global optimization of dynamical systems

• Learning optimal control policies directly on physical systems is challenging. Even a single failure can lead to costly hardware damage. Most existing model-free learning methods that guarantee safety, i.e., no failures, during exploration are limited to local optima. This work proposes GOSAFEOPT as the first provably safe and optimal algorithm that can safely discover globally optimal policies for systems with high-dimensional state space. We demonstrate the superiority of GOSAFEOPT over competing model-free safe learning methods in simulation and hardware experiments on a robot arm.(c) 2023 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons .org /licenses /by /4 .0/).

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

Model-free learning

Bayesian optimization

Safe learning

Publikations- och innehållstyp

ref (ämneskategori)

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