Solving tasks in Reinforcement Learning is no easy feat. As the goal of the agent is to maximize the accumulated reward, it often learns to exploit loopholes and misspecifications in the reward signal resulting in un-wanted behavior. While constraints may solve this issue, there is no closed form solution for general constraints. In this work, we present a novel multi-timescale approach for constrained policy optimization, called 'Re-ward Constrained Policy Optimization' (RCPO), which uses an alternative penalty signal to guide the policy towards a constraint satisfying one. We prove the convergence of our approach and provide empirical evidence of its ability to train constraint satisfying policies.
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