Author

Sheila Sutjipto

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Preprint Oct 2026

Distance Field Driven Reinforcement Learning for Reactive and Robust Collision Avoidance

Robust and reactive collision avoidance remains a central challenge for deploying Reinforcement Learning (RL) policies on real robotic manipulators, particularly when transferring behaviours learned in simulation to the physical world. This paper presents an RL framework that integrates the Euclidean Distance Field (ED...

Taiga Ikeshima, Sheila Sutjipto, Lan Wu et al. · 0 citations

Preprint Sep 2026

Safety-aware Skill Adaptation for Reinforcement Learning in Dynamic Environments

Dist-GPRL is presented, a distance-aware and safety-guided reinforcement learning framework for structured robot skill adaptation that sequentially adapts overlapping local windows of sparse trajectory via-points rather than modifying the complete skill at every policy step.

A. K. M. Nadimul Haque, Sheila Sutjipto, Marc G. Carmichael et al. · 0 citations