{"id":"https://openalex.org/W7164945035","doi":"https://doi.org/10.48550/arxiv.2606.15311","title":"Hamilton-Jacobi Reachability-Based Safe Reinforcement Learning for Emergency Collision Avoidance","display_name":"Hamilton-Jacobi Reachability-Based Safe Reinforcement Learning for Emergency Collision Avoidance","publication_year":2026,"publication_date":"2026-06-13","ids":{"openalex":"https://openalex.org/W7164945035","doi":"https://doi.org/10.48550/arxiv.2606.15311"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.15311","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.15311","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.15311","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111867204","display_name":"Yuhong Jiang","orcid":"https://orcid.org/0009-0007-1734-7210"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Yuhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068593680","display_name":"Shiyue Zhao","orcid":"https://orcid.org/0000-0001-6742-2767"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Shiyue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068780105","display_name":"Junzhi Zhang","orcid":"https://orcid.org/0000-0002-5055-2941"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Junzhi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138718780","display_name":"Junfeng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Junfeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138729709","display_name":"Xinhan Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xinhan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138708027","display_name":"Shijie Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Shijie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5086123029","display_name":"Chengkun He","orcid":"https://orcid.org/0000-0003-3144-7166"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Chengkun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.5024999976158142,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.5024999976158142,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.21559999883174896,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.06920000165700912,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7519999742507935},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6320000290870667},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5508000254631042},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5271000266075134},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.4885999858379364},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4693000018596649},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.4690999984741211},{"id":"https://openalex.org/keywords/system-safety","display_name":"System safety","score":0.4690000116825104},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46889999508857727}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7519999742507935},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6320000290870667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5672000050544739},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5508000254631042},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5271000266075134},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.4885999858379364},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4693000018596649},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.4690999984741211},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.4690000116825104},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46889999508857727},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.43709999322891235},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.42969998717308044},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3846000134944916},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.3783999979496002},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.36410000920295715},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3472999930381775},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.34310001134872437},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.3416999876499176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33869999647140503},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3337000012397766},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3215999901294708},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3019999861717224},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2978000044822693},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.15311","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.15311","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.15311","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.15311","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5629070997238159,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Emergency":[0],"collision":[1,74],"avoidance":[2,184],"under":[3,100],"extreme":[4,117],"driving":[5,118],"conditions":[6],"demands":[7],"safety-critical":[8],"control":[9],"that":[10,54,93,174],"accounts":[11],"for":[12,59,161],"both":[13],"obstacle":[14],"proximity":[15],"and":[16,76,80,147,166,186],"vehicle":[17,102],"dynamic":[18],"stability":[19,78],"over":[20],"a":[21,39,46,64,88,137,142,148],"future":[22,101],"time":[23],"horizon,":[24],"yet":[25],"existing":[26],"methods":[27],"often":[28],"rely":[29],"on":[30,169],"instantaneous":[31],"or":[32],"local":[33],"safety":[34,52,57,67,91,96,111,131,139,162,190],"evaluations.":[35],"This":[36],"paper":[37],"proposes":[38],"safe":[40],"reinforcement":[41],"learning":[42],"framework":[43],"guided":[44],"by":[45,71],"Hamilton-Jacobi":[47],"(HJ)":[48],"reachability":[49,85],"based":[50],"motion":[51,90,110,130],"set":[53,92,112,132],"provides":[55],"forward-looking":[56],"supervision":[58],"constrained":[60,143],"policy":[61,150],"optimization.":[62],"Specifically,":[63],"unified":[65,189],"signed":[66],"function":[68],"is":[69,81,113,133,153],"formulated":[70],"combining":[72],"geometric":[73],"margins":[75,191],"chassis":[77],"limits,":[79],"then":[82,134],"extended":[83],"through":[84],"analysis":[86],"into":[87,141],"finite-horizon":[89],"characterizes":[94],"whether":[95],"can":[97],"be":[98],"maintained":[99],"state":[103],"evolution.":[104],"To":[105],"enable":[106],"practical":[107],"computation,":[108],"the":[109,121,158,175],"approximated":[114],"from":[115],"offline":[116],"data,":[119],"mitigating":[120],"computational":[122],"burden":[123],"of":[124],"grid-based":[125],"HJ":[126],"solvers.":[127],"The":[128],"learned":[129],"embedded":[135],"as":[136],"continuous":[138],"cost":[140],"Markov":[144],"decision":[145],"process,":[146],"PID-Lagrangian":[149],"optimization":[151],"scheme":[152],"employed":[154],"to":[155],"adaptively":[156],"regulate":[157],"Lagrange":[159],"multiplier":[160],"constraint":[163],"enforcement.":[164],"Simulation":[165],"real-vehicle":[167],"experiments":[168],"low-adhesion":[170],"obstacle-avoidance":[171],"scenarios":[172],"demonstrate":[173],"proposed":[176],"method":[177],"achieves":[178],"higher":[179],"goal-reaching":[180],"rates,":[181],"produces":[182],"smoother":[183],"maneuvers,":[185],"maintains":[187],"larger":[188],"than":[192],"baseline":[193],"methods.":[194]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-17T00:00:00"}