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.
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