{"id":"https://openalex.org/W3213330367","doi":"https://doi.org/10.1109/lra.2021.3128237","title":"Human-Feedback Shield Synthesis for Perceived Safety in Deep Reinforcement Learning","display_name":"Human-Feedback Shield Synthesis for Perceived Safety in Deep Reinforcement Learning","publication_year":2021,"publication_date":"2021-11-16","ids":{"openalex":"https://openalex.org/W3213330367","doi":"https://doi.org/10.1109/lra.2021.3128237","mag":"3213330367"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3128237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3128237","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-304969","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084998580","display_name":"Daniel Marta","orcid":"https://orcid.org/0000-0002-3510-5481"},"institutions":[{"id":"https://openalex.org/I4210099977","display_name":"Institute for Futures Studies","ror":"https://ror.org/00x2kxt49","country_code":"SE","type":"facility","lineage":["https://openalex.org/I4210099977"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Daniel Marta","raw_affiliation_strings":["Digital Futures, Sweden","Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-3510-5481","affiliations":[{"raw_affiliation_string":"Digital Futures, Sweden","institution_ids":["https://openalex.org/I4210099977"]},{"raw_affiliation_string":"Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005479279","display_name":"Christian Pek","orcid":"https://orcid.org/0000-0001-7461-920X"},"institutions":[{"id":"https://openalex.org/I4210099977","display_name":"Institute for Futures Studies","ror":"https://ror.org/00x2kxt49","country_code":"SE","type":"facility","lineage":["https://openalex.org/I4210099977"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christian Pek","raw_affiliation_strings":["Digital Futures, Sweden","Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-7461-920X","affiliations":[{"raw_affiliation_string":"Digital Futures, Sweden","institution_ids":["https://openalex.org/I4210099977"]},{"raw_affiliation_string":"Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061642843","display_name":"Gaspar I. Melsion","orcid":"https://orcid.org/0000-0001-9242-9127"},"institutions":[{"id":"https://openalex.org/I4210099977","display_name":"Institute for Futures Studies","ror":"https://ror.org/00x2kxt49","country_code":"SE","type":"facility","lineage":["https://openalex.org/I4210099977"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Gaspar I. Melsion","raw_affiliation_strings":["Digital Futures, Sweden","Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-9242-9127","affiliations":[{"raw_affiliation_string":"Digital Futures, Sweden","institution_ids":["https://openalex.org/I4210099977"]},{"raw_affiliation_string":"Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042698317","display_name":"Jana T\u016fmov\u00e1","orcid":"https://orcid.org/0000-0003-4173-2593"},"institutions":[{"id":"https://openalex.org/I4210099977","display_name":"Institute for Futures Studies","ror":"https://ror.org/00x2kxt49","country_code":"SE","type":"facility","lineage":["https://openalex.org/I4210099977"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jana Tumova","raw_affiliation_strings":["Digital Futures, Sweden","Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-4173-2593","affiliations":[{"raw_affiliation_string":"Digital Futures, Sweden","institution_ids":["https://openalex.org/I4210099977"]},{"raw_affiliation_string":"Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082559019","display_name":"Iolanda Leite","orcid":"https://orcid.org/0000-0002-2212-4325"},"institutions":[{"id":"https://openalex.org/I4210099977","display_name":"Institute for Futures Studies","ror":"https://ror.org/00x2kxt49","country_code":"SE","type":"facility","lineage":["https://openalex.org/I4210099977"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Iolanda Leite","raw_affiliation_strings":["Digital Futures, Sweden","Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-2212-4325","affiliations":[{"raw_affiliation_string":"Digital Futures, Sweden","institution_ids":["https://openalex.org/I4210099977"]},{"raw_affiliation_string":"Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5084998580"],"corresponding_institution_ids":["https://openalex.org/I4210099977","https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.9598,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.88845307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":"1","first_page":"406","last_page":"413"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8265365958213806},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7077571153640747},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.6646397709846497},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6325304508209229},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.6084175109863281},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5889354944229126},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4230308532714844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35064369440078735},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11836051940917969}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8265365958213806},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7077571153640747},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.6646397709846497},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6325304508209229},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6084175109863281},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5889354944229126},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4230308532714844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35064369440078735},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11836051940917969},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3128237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3128237","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:kth-304969","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-304969","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-304969","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-304969","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5199999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"},{"id":"https://openalex.org/F4320322509","display_name":"Kungliga Tekniska H\u00f6gskolan","ror":"https://ror.org/026vcq606"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1545884927","https://openalex.org/W1567202646","https://openalex.org/W1968566124","https://openalex.org/W2016108875","https://openalex.org/W2082585576","https://openalex.org/W2148961728","https://openalex.org/W2162130878","https://openalex.org/W2167052694","https://openalex.org/W2735318784","https://openalex.org/W2736601468","https://openalex.org/W2889987506","https://openalex.org/W2948807003","https://openalex.org/W2962889474","https://openalex.org/W2963571918","https://openalex.org/W2963575966","https://openalex.org/W3089749396","https://openalex.org/W3090020790","https://openalex.org/W3093055384","https://openalex.org/W4229856339","https://openalex.org/W6638018090","https://openalex.org/W6682367392","https://openalex.org/W6683397050","https://openalex.org/W6732417791","https://openalex.org/W6741002519","https://openalex.org/W6749950433","https://openalex.org/W6753526802","https://openalex.org/W6763329847","https://openalex.org/W6771598146","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W2502115930","https://openalex.org/W154868527","https://openalex.org/W1494268238","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W2480116122","https://openalex.org/W1976468483","https://openalex.org/W4246396837","https://openalex.org/W2482350142"],"abstract_inverted_index":{"Despite":[0],"the":[1,28,37,114,124,127,130,156,198],"successes":[2],"of":[3,36,40,63,93,113,126,141],"deep":[4],"reinforcement":[5],"learning":[6],"(RL),":[7],"it":[8],"is":[9,96,102,185],"still":[10],"challenging":[11],"to":[12,46,116,122,163,178],"obtain":[13,66,164],"safe":[14],"policies.":[15],"Formal":[16],"verification":[17],"approaches":[18],"ensure":[19],"safety":[20,50],"at":[21,197],"all":[22],"times,":[23],"but":[24],"usually":[25],"overly":[26],"restrict":[27],"agent\u2019s":[29],"behaviors,":[30],"since":[31],"they":[32],"assume":[33],"adversarial":[34,42],"behavior":[35],"environment.":[38],"Instead":[39],"assuming":[41],"behavior,":[43],"we":[44,73,158],"suggest":[45],"focus":[47],"on":[48,137],"perceived":[49,70,168,182],"instead,":[51],"i.e.,":[52],"policies":[53,67,89,165,179,196],"that":[54,68,87,95,109,166,174,180],"avoid":[55],"undesired":[56],"behaviors":[57],"while":[58],"having":[59],"a":[60,75,91,138,145,149],"desired":[61],"level":[62],"conservativeness.":[64],"To":[65],"are":[69,181],"as":[71,169,183],"safe,":[72,184],"propose":[74],"shield":[76],"synthesis":[77],"framework":[78,176],"with":[79,90],"two":[80,160],"distinct":[81],"loops:":[82],"(1)":[83],"an":[84,106],"inner":[85,131],"loop":[86,108],"trains":[88],"set":[92],"actions":[94],"constrained":[97],"by":[98],"shields":[99,128],"whose":[100],"conservativeness":[101],"parameterized,":[103],"and":[104,118,144,190],"(2)":[105],"outer":[107],"presents":[110],"example":[111],"rollouts":[112],"policy":[115],"humans":[117],"collects":[119],"their":[120],"feedback":[121,193],"update":[123],"parameters":[125],"in":[129,147],"loop.":[132],"We":[133],"demonstrate":[134],"our":[135,175],"approach":[136],"RL":[139],"benchmark":[140],"Lunar":[142],"landing":[143],"scenario":[146],"which":[148],"mobile":[150],"robot":[151],"navigates":[152],"around":[153],"humans.":[154],"For":[155],"latter,":[157],"conducted":[159],"user":[161],"studies":[162],"were":[167],"safe.":[170],"Our":[171],"results":[172],"indicate":[173],"converges":[177],"robust":[186],"against":[187],"noisy":[188],"feedback,":[189],"can":[191],"query":[192],"for":[194],"multiple":[195],"same":[199],"time.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}