Skill-based Safe Reinforcement Learning with Risk Planning
Keywords: Safe Reinforcement Learning, Skill-based, Risk Planning
TL;DR: This paper presents a novel approach in safe RL, learning safe skills from offline data and optimizing them through a risk planning process using a skill risk predictor derived via PU learning to enhance online safe RL.
Abstract: Safe Reinforcement Learning (Safe RL) aims to ensure safety when an RL agent conducts learning by interacting with real-world environments where improper actions can induce high costs or lead to severe consequences. In this paper, we propose a novel Safe Skill Planning (SSkP) approach to enhance effective safe RL by exploiting auxiliary offline demonstration data. SSkP involves a two-stage process. First, we employ PU learning to learn a skill risk predictor from the offline demonstration data. Then, based on the learned skill risk predictor, we develop a novel risk planning process to enhance online safe RL and learn a risk-averse safe policy efficiently through interactions with the online RL environment, while simultaneously adapting the skill risk predictor to the environment. We conduct experiments in several benchmark robotic simulation environments. The experimental results demonstrate that the proposed approach consistently outperforms previous state-of-the-art safe RL methods.
Primary Area: reinforcement learning
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Submission Number: 8991
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