CVaR-constrained TD3 policies for robot navigation show larger safety margins and higher post-training reachability verification rates than average-cost baselines across simulated scenarios and real-robot tests.
Hamilton-jacobi reachability: A brief overview and recent advances
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cs.RO 2years
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Augments MPC with a safety value function terminal constraint to achieve recursive feasibility and persistent safety while co-optimizing performance.
citing papers explorer
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Safety-Constrained Reinforcement Learning with Post-Training Reachability Verification for Robot Navigation
CVaR-constrained TD3 policies for robot navigation show larger safety margins and higher post-training reachability verification rates than average-cost baselines across simulated scenarios and real-robot tests.
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Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
Augments MPC with a safety value function terminal constraint to achieve recursive feasibility and persistent safety while co-optimizing performance.