Foundations of Safe Online Reinforcement Learning in the Linear Quadratic Regulator: Generalized Baselines

Many practical applications of online reinforcement learning require the satisfaction of safety constraints while learning about the unknown environment. In this work, we establish theoretical foundations for reinforcement learning with safety constraints by studying the canonical problem of Linear Quadratic Regulator learning with unknown dynamics, but with the additional constraint that the position must stay within a safe region for the entire trajectory with high probability. Our primary contribution is a general framework for studying stronger baselines of nonlinear controllers that are better suited for constrained problems than linear controllers. Due to the difficulty of analyzing non-linear controllers in a constrained problem, we focus on 1-dimensional state- and action- spaces, however we also discuss how we expect the high-level takeaways can generalize to higher dimensions. Using our framework, we show that for any non-linear baseline satisfying natural assumptions, tildeOT(√T)-regret is possible when the noise distribution has sufficiently large support, and tildeOT(T2/3)-regret is possible for any subgaussian noise distribution. In proving these results, we introduce a new uncertainty estimation bound for nonlinear controls which shows that enforcing safety in the presence of sufficient noise can provide ``free exploration'' that compensates for the added cost of uncertainty in safety-constrained control.