Enhance Exploration in Safe Reinforcement Learning with Contrastive Representation Learning

In safe reinforcement learning, agent needs to balance between exploration actions and safety constraints. Following this paradigm, domain transfer approaches learn a prior Q-function from the related environments to prevent unsafe actions. However, because of the large number of false positives, some safe actions are never executed, leading to inadequate exploration in sparse-reward environments. In this work, we aim to learn an efficient state representation to balance the exploration and safety-prefer action in a sparse-reward environment. Firstly, the image input is mapped to latent representation by an auto-encoder. A further contrastive learning objective is employed to distinguish safe and unsafe states. In the learning phase, the latent distance is used to construct an additional safety check, which allows the agent to bias the exploration if it visits an unsafe state. To verify the effectiveness of our method, the experiment is carried out in three navigation-based MiniGrid environments. The result highlights that our method can explore the environment better while maintaining a good balance between safety and efficiency.