A dynamic safety shield uses an RL supervisor to adaptively weight obstacle-avoidance and action-matching terms in an MPC cost, improving the goals-to-collisions ratio in navigation RL.
Where to go next: learning a subgoal recommendation policy for navigation in dynamic environments
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A Dynamic Safety Shield for Safe and Efficient Reinforcement Learning of Navigation Tasks
A dynamic safety shield uses an RL supervisor to adaptively weight obstacle-avoidance and action-matching terms in an MPC cost, improving the goals-to-collisions ratio in navigation RL.