Resilient Constrained Reinforcement Learning

We study a class of constrained reinforcement learning (RL) problems in which multiple constraint specifications are not identified before training. It is challenging to identify appropriate constraint specifications due to the undefined trade-off between the reward maximization objective and the constraint satisfaction, which is ubiquitous in constrained decision-making. To tackle this issue, we propose a new constrained RL approach that searches for policy and constraint specifications together. This method features the adaptation of relaxing the constraint according to a relaxation cost introduced in the learning objective. Since this feature mimics how ecological systems adapt to disruptions by altering operation, our approach is termed as resilient constrained RL. Specifically, we provide a set of sufficient conditions that balance the constraint satisfaction and the reward maximization in notion of resilient equilibrium, propose a tractable formulation of resilient constrained policy optimization that takes this equilibrium as an optimal solution, and advocate two resilient constrained policy search algorithms with non-asymptotic convergence guarantees on the optimality gap and constraint satisfaction. Furthermore, we demonstrate the merits and the effectiveness of our approach in computational experiments.