{"paper":{"title":"Trust, Geometry, and Rules: A Credibility-Aware Reinforcement Learning Framework for Safe USV Navigation under Uncertainty","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Liusha Yang, Mingchuan Zhang, Qingjiang Shi, Quanbo Ge, Shuqi Chai, Wei Wang, Yuhang Zhang, Yukang Zhang","submitted_at":"2026-05-26T12:59:43Z","abstract_excerpt":"Autonomous navigation of Unmanned Surface Vehicles (USVs) that is safe and compliant with the International Regulations for Preventing Collisions at Sea (COLREGs) remains a formidable challenge in dynamic maritime environments, particularly when perception systems exhibit miscalibrated uncertainty. Existing Reinforcement Learning (RL)-based methods often falter because state-estimation errors induce unreliable belief states that mislead the value function, while discrete traffic rules introduce discontinuity in the learning objective. To address these challenges, we propose a framework integra"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.26974","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.26974/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}