Learning safety in model-based Reinforcement Learning using MPC and Gaussian Processes

This paper proposes a method to encourage safety in Model Predictive Control (MPC)-based Reinforcement Learning (RL) via Gaussian Process (GP) regression. The framework consists of 1) a parametric MPC scheme that is employed as model-based controller with approximate knowledge on the real system's dynamics, 2) an episodic RL algorithm tasked...