3 papers
cs.RO2026
CC-VPSTO: Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation for Online Robot Motion Planning under Uncertainty
Lara Brudermüller, Guillaume Berger, Julius Jankowski +3
Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot's action space. We introduce C…
cs.LG2026
Safe Langevin Soft Actor Critic
Mahesh Keswani, Samyak Jain, Raunak P. Bhattacharyya
Balancing reward and safety in constrained reinforcement learning remains challenging due to poor generalization from sharp value minima and inadequate handling of heavy-tailed ris…
cs.LG2025
Learning Safe Autonomous Driving Policies Using Predictive Safety Representations
Mahesh Keswani, Raunak Bhattacharyya
Safe reinforcement learning (SafeRL) is a prominent paradigm for autonomous driving, where agents are required to optimize performance under strict safety requirements. This dual o…