Integrates RL with a differentiable CVaR quadratic-program safety layer to jointly learn nominal controls, risk levels, and margins for adaptive safe navigation under motion uncertainty.
Safe navigation in uncertain crowded environments using risk adaptive cvar barrier functions,
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Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
Integrates RL with a differentiable CVaR quadratic-program safety layer to jointly learn nominal controls, risk levels, and margins for adaptive safe navigation under motion uncertainty.