Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Safe-To-Explore State Spaces: Ensuring Safe Exploration in Policy Search
  with Hierarchical Task Optimization   Policy search reinforcement learning allows robots to acquire skills by
themselves. However, the learning procedure is inherently unsafe as the robot
has no a-priori way to predict the consequences of the exploratory actions it
takes. Therefore, exploration can lead to collisions with the potential to harm
the robot and/or the environment. In this work we address the safety aspect by
constraining the exploration to happen in safe-to-explore state spaces. These
are formed by decomposing target skills (e.g., grasping) into higher ranked
sub-tasks (e.g., collision avoidance, joint limit avoidance) and lower ranked
movement tasks (e.g., reaching). Sub-tasks are defined as concurrent
controllers (policies) in different operational spaces together with associated
Jacobians representing their joint-space mapping. Safety is ensured by only
learning policies corresponding to lower ranked sub-tasks in the redundant null
space of higher ranked ones. As a side benefit, learning in sub-manifolds of
the state-space also facilitates sample efficiency. Reaching skills performed
in simulation and grasping skills performed on a real robot validate the
usefulness of the proposed approach.

15
The categories of this paper are: nucl-ex
21
The categories of this paper are: adap-org
6
The categories of this paper are: astro-ph
30
The categories of this paper are: q-alg
4
The categories of this paper are: cond-mat
35
The categories of this paper are: mtrl-th
12
The categories of this paper are: nucl-th
37
The categories of this paper are: supr-con
5
The categories of this paper are: gr-qc
27
The categories of this paper are: comp-gas
28
The categories of this paper are: alg-geom
7
The categories of this paper are: hep-th
9
The categories of this paper are: nlin
17
The categories of this paper are: q-fin
24
The categories of this paper are: dg-ga
18
The categories of this paper are: econ