Positive Safety Margins from Artificial Potential Field Reward Augmentation for
Overview
This research addresses the challenge of collision-free reaching when obstacles are only partially observed, specifically regarding their size and exact position.
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Event evidence and corrections
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Environment: simulation
“cle surface and fails once the obstacle radius exceeds its training value. We investigate whether a single analytic reward term can induce a safety margin without exposing the obstacle to the policy. We augment the reward of a simulated Franka Emika Panda reaching task with a horizontal artificial potential field that penalizes proximity within a safety margin around each of two pillars (fixed nominal layout, random”
Exact source · revision 1Source owner not reported
Reported quantity · Reported success rate: 88 percent · reported trials
“drift). Under hidden observation, policies trained with this term maintain a safe success rate above 88% across a radius sweep from 0.03 m to 0.055 m (30 seeds), while policies without it fall below 10% at the maximum tested radius; the term induces a minimum clearance of 47.9 mm against 9.6 mm without it and eliminates training collisions at least eight times earlier (median steps). The advantage is statistically si”
Exact source · revision 1Source owner not reported
Reported quantity · minimum clearance: 47.9 other · Basis not reported
“drift). Under hidden observation, policies trained with this term maintain a safe success rate above 88% across a radius sweep from 0.03 m to 0.055 m (30 seeds), while policies without it fall below 10% at the maximum tested radius; the term induces a minimum clearance of 47.9 mm against 9.6 mm without it and eliminates training collisions at least eight times earlier (median steps). The advantage is statistically si”
Exact source · revision 1Source owner not reported
Reported quantity · minimum clearance without term: 9.6 other · Basis not reported
“drift). Under hidden observation, policies trained with this term maintain a safe success rate above 88% across a radius sweep from 0.03 m to 0.055 m (30 seeds), while policies without it fall below 10% at the maximum tested radius; the term induces a minimum clearance of 47.9 mm against 9.6 mm without it and eliminates training collisions at least eight times earlier (median steps). The advantage is statistically si”
Exact source · revision 1Source owner not reported
Reported quantity · training collisions eliminated earlier (median steps): 8 other · reported trials
“drift). Under hidden observation, policies trained with this term maintain a safe success rate above 88% across a radius sweep from 0.03 m to 0.055 m (30 seeds), while policies without it fall below 10% at the maximum tested radius; the term induces a minimum clearance of 47.9 mm against 9.6 mm without it and eliminates training collisions at least eight times earlier (median steps). The advantage is statistically si”
Exact source · revision 1Source owner not reported
Reported quantity · radius sweep lower bound: 0.03 other · Basis not reported
“drift). Under hidden observation, policies trained with this term maintain a safe success rate above 88% across a radius sweep from 0.03 m to 0.055 m (30 seeds), while policies without it fall below 10% at the maximum tested radius; the term induces a minimum clearance of 47.9 mm against 9.6 mm without it and eliminates training collisions at least eight times earlier (median steps). The advantage is statistically si”
Exact source · revision 1Source owner not reported
Reported quantity · radius sweep upper bound: 0.03 other · Basis not reported
“drift). Under hidden observation, policies trained with this term maintain a safe success rate above 88% across a radius sweep from 0.03 m to 0.055 m (30 seeds), while policies without it fall below 10% at the maximum tested radius; the term induces a minimum clearance of 47.9 mm against 9.6 mm without it and eliminates training collisions at least eight times earlier (median steps). The advantage is statistically si”
Exact source · revision 1Source owner not reported
Reported quantity · seeds: 30 other · reported trials
“drift). Under hidden observation, policies trained with this term maintain a safe success rate above 88% across a radius sweep from 0.03 m to 0.055 m (30 seeds), while policies without it fall below 10% at the maximum tested radius; the term induces a minimum clearance of 47.9 mm against 9.6 mm without it and eliminates training collisions at least eight times earlier (median steps). The advantage is statistically si”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalPositive Safety Margins from Artificial Potential Field Reward Augmentation for Size-Robust Obstacle Avoidance under Partial Observability
This research addresses the challenge of collision-free reaching when obstacles are only partially observed, specifically regarding their size and exact position.
Event coverage history
There is not enough continuous observation data to show a trend.
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