Safety-Constrained Reinforcement Learning with Post-Training Reachability Verification for Robot Navigation

arXiv:2605.14174 · cs.RO · Submitted 2026-05-13 · Read on arXiv

cs.RO

Submitted: 2026-05-13

Updated: 2026-09-24

Terminology

• Verification — 44× in this paper · explained in 2 episodes
• Reinforcement Learning — 21× in this paper · explained in 4 episodes
• Actor — 12× in this paper · explained in 3 episodes
• Constrained Policy Optimization — 8× in this paper
• Sim-to-Real Transfer — 5× in this paper · explained in 2 episodes
• Taylor Model — 5× in this paper
• Robustness — 4× in this paper · explained in 5 episodes
• Conditional Value-at-Risk — 3× in this paper
• Deep Reinforcement Learning — 3× in this paper · explained in 2 episodes
• Hybrid System — 3× in this paper · explained in 2 episodes
• Reward Function — 3× in this paper · explained in 2 episodes
• Sample Efficiency — 3× in this paper · explained in 4 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Activation Function — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Constrained Markov Decision Process — 2× in this paper
• Formal Verification — 2× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Convergence Guarantees — 1× in this paper · explained in 3 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Reward Constrained Policy Optimization — 1× in this paper

Sources

• Reward Constrained Policy Optimization
• Benchmarking Batch Deep Reinforcement Learning Algorithms
• Projection-Based Constrained Policy Optimization
• Distributionally Robust Optimization: A Review

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