{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/scalable-safe-exploration-for-global","title":"GoSafeOpt: Scalable Safe Exploration for Global Optimization of Dynamical Systems","arxiv_id":"2201.09562","date":"2022-01-24","proceeding":null,"authors":["Bhavya Sukhija","Matteo Turchetta","David Lindner","Andreas Krause","Sebastian Trimpe","Dominik Baumann"],"abstract":"Learning optimal control policies directly on physical systems is challenging since even a single failure can lead to costly hardware damage. Most existing model-free learning methods that guarantee safety, i.e., no failures, during exploration are limited to local optima. A notable exception is the GoSafe algorithm, which, unfortunately, cannot handle high-dimensional systems and hence cannot be applied to most real-world dynamical systems. This work proposes GoSafeOpt as the first algorithm that can safely discover globally optimal policies for high-dimensional systems while giving safety and optimality guarantees. We demonstrate the superiority of GoSafeOpt over competing model-free safe learning methods on a robot arm that would be prohibitive for GoSafe.","url_abs":"https://arxiv.org/abs/2201.09562v5","url_pdf":"https://arxiv.org/pdf/2201.09562v5.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"scalable-safe-exploration-for-global","repo_url":"https://github.com/Data-Science-in-Mechanical-Engineering/Contextual-GoSafe","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"safe-exploration","task_name":"Safe Exploration"},{"task_slug":"global-optimization","task_name":"global-optimization"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}