Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning

Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning The last half decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic review of the recent advances made in using machine learning to achieve safe decision-making under uncertainties, with a focus on unifying the language and frameworks used ...