Author

Yisoo Lee

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Preprint Sep 2026

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

Robots operating in human-centered environments must safely navigate among multiple dynamic obstacles to avoid collisions with people and surrounding infrastructure. Control barrier functions (CBFs) provide an effective mechanism for safety filtering, and recent CBF-based reinforcement learning (RL) methods embed such...

Sanghyuk Park, Kwan-Woo Lee, Taekyung Kim et al. · 0 citations

Preprint Sep 2026

Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation

This study proposes a novel Model Predictive Path Integral (MPPI)-based task-space control framework. The proposed framework explicitly solves rigid-body dynamics within a real-time MPC formulation and enforces safety constraints, enabling accurate motion and force control that yields compliant behaviors for safe and e...

Euncheol Im, Taehyun Kim, Yonghwan Oh et al. · 0 citations