Safe Reinforcement Learning of Dynamic High-Dimensional Robotic Tasks: Navigation, Manipulation, Interaction

摘要

Safety is a fundamental property for the real-world deployment of robotic platforms. Any control policy should avoid dangerous actions that could harm the environment, humans, or the robot itself. In reinforcement learning (RL), safety is crucial when exploring a new environment to learn a new skill. This paper introduces a new formulation of safe exploration for robotic RL in the tangent space of the constraint manifold that effectively transforms the action space of the RL agent for always respecting safety constraints locally. We show how to apply this approach to a wide range of robotic platforms and how to define safety constraints that represent dynamic articulated objects like humans in the context of robotic RL. Our proposed approach achieves state-of-the-art performance in simulated high-dimensional and dynamic tasks while avoiding collisions with the environment. We show safe real-world deployment of our learned controller on a <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\text{TIAGo}++$</tex> robot, achieving remarkable performance in manipulation and human-robot interaction tasks.