GoSafe: Globally Optimal Safe Robot Learning
Dominik Baumann Alonso Marco Matteo Turchetta Sebastian Trimpe Dominik Baumann Alonso Marco Matteo Turchetta Sebastian Trimpe
When learning policies for robotic systems from data, safety is a major concern, as violation of safety constraints may cause hardware damage. SafeOpt is an efficient Bayesian optimization (BO) algorithm that can learn policies while guaranteeing safety with high probability. However, its search space is limited to an initially given safe region. We extend this method by exploring outside the init...