WCSAC: Worst-Case Soft Actor Critic for Safety-Constrained Reinforcement Learning.
2021
Safe exploration is regarded as a key priority area for reinforcement learning research.
With separate reward and safety signals, it is natural to cast it as constrained reinforcement learning, where expected long-term costs of policies are constrained.
However, it can be hazardous to set constraints on the expected safety signal without considering the tail of the distribution.
For instance, in safety-critical domains, worst-case analysis is required to avoid disastrous results.
We present a novel reinforcement learning algorithm called Worst-Case Soft Actor Critic, which extends the Soft Actor Critic algorithm with a safety critic to achieve risk control.
More specifically, a certain level of conditional Value-at-Risk from the distribution is regarded as a safety measure to judge the constraint satisfaction, which guides the change of adaptive safety weights to achieve a trade-off between reward and safety.
As a result, we can optimize policies under the premise that their worst-case performance satisfies the constraints. The empirical analysis shows that our algorithm attains better risk control compared to expectation-based methods.
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