Turning Safety into Competence: Minimally Exploitable Robot Policies via Safety-Filtered Reinforcement Learning
Robots deployed for competitive tasks must outmaneuver their opponents without sacrificing safety. Existing approaches, including safe reinforcement learning (RL), train a single policy to achieve task success and avoid failures simultaneously. This coupling can complicate training and leave the learned policy exploita...
Rui-Han Wu, Rui Yang, Donggeon David Oh et al.
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