Safe robot execution in model-based reinforcement learning

摘要

Task learning in robotics requires repeatedly executing the same actions in different states to learn the model of the task. However, in real-world domains, there are usually sequences of actions that, if executed, may produce unrecoverable errors (e.g. breaking an object). Robots should avoid repeating such errors when learning, and thus explore the state space in a more intelligent way. This requires identifying dangerous action effects to avoid including such actions in the generated plans, while at the same time enforcing that the learned models are complete enough for the planner not to fall into dead-ends.