DODGER: Safety-Guided Reinforcement Learning for Robot Navigation Among Dynamic Obstacles

arXiv:2609.38873 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-30 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-30

Updated: 2026-10-05

Code: https://github.com/psh0823/dodger

Project page: https://psh0823.github.io/dodger-homepage

Terminology

• Actor — 20× in this paper · explained in 3 episodes
• Reinforcement Learning — 13× in this paper · explained in 4 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 5× in this paper
• In Reinforcement Learning — 2× in this paper
• Regularization — 2× in this paper · explained in 3 episodes
• Reward Shaping — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Aleatoric Uncertainty — 1× in this paper · explained in 5 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Attention Mechanism — 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
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Korea Institute of Science and Technology — 1× in this paper
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes

Sources

• Is Your Safe Controller Actually Safe? A Critical Review of CBF Tautologies and Hidden Assumptions
• DiffCVaR: Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
• Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty
• Proximal Policy Optimization Algorithms
• MuJoCo Playground
• PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball

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