{"id":"https://openalex.org/W7166814788","doi":"https://doi.org/10.48550/arxiv.2606.31320","title":"Safe Online Learning via Smooth Safety-Structured Policy Composition","display_name":"Safe Online Learning via Smooth Safety-Structured Policy Composition","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7166814788","doi":"https://doi.org/10.48550/arxiv.2606.31320"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.31320","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31320","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2606.31320","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139808227","display_name":"Hongpeng Cao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Hongpeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100551410","display_name":"Liqun Zhao","orcid":"https://orcid.org/0000-0002-2386-5299"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Liqun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139751018","display_name":"Yuliang Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gu, Yuliang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139779901","display_name":"Naira Hovakimyan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hovakimyan, Naira","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135909866","display_name":"Lui Sha","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sha, Lui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5060442004","display_name":"Marco Caccamo","orcid":"https://orcid.org/0000-0003-2328-044X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Caccamo, Marco","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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6801000237464905,"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":0.6801000237464905,"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":0.1136000007390976,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.026499999687075615,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.6496999859809875},{"id":"https://openalex.org/keywords/enforcement","display_name":"Enforcement","score":0.6154000163078308},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5202999711036682},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.5123000144958496},{"id":"https://openalex.org/keywords/online-learning","display_name":"Online learning","score":0.4830999970436096},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.46860000491142273},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.3953999876976013}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6496999859809875},{"id":"https://openalex.org/C2779777834","wikidata":"https://www.wikidata.org/wiki/Q4202277","display_name":"Enforcement","level":2,"score":0.6154000163078308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5688999891281128},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5202999711036682},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.5123000144958496},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.4830999970436096},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.46860000491142273},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.41920000314712524},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.3953999876976013},{"id":"https://openalex.org/C2780665704","wikidata":"https://www.wikidata.org/wiki/Q959298","display_name":"Intervention (counseling)","level":2,"score":0.38190001249313354},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3702000081539154},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3513999879360199},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3513000011444092},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.34299999475479126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32510000467300415},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.31119999289512634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30230000615119934},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C2775907273","wikidata":"https://www.wikidata.org/wiki/Q7805281","display_name":"Time constraint","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2689000070095062},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C188116033","wikidata":"https://www.wikidata.org/wiki/Q2664563","display_name":"Q-learning","level":3,"score":0.2624000012874603}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.31320","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31320","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.31320","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31320","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":0.5973969101905823,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Safe":[0],"online":[1,83,119],"reinforcement":[2],"learning":[3,43,86,102,120],"requires":[4],"policies":[5],"to":[6],"respect":[7],"safety":[8,22,37,47,59,98],"constraints":[9],"while":[10],"maintaining":[11],"smooth":[12,42],"optimization":[13],"dynamics.":[14,87],"Existing":[15],"approaches":[16],"typically":[17],"rely":[18],"on":[19,108],"either":[20],"strict":[21],"enforcement":[23,99],"via":[24],"action":[25,66],"interventions,":[26],"which":[27,40],"introduce":[28],"discontinuities":[29],"in":[30,81,121],"system":[31],"interaction":[32,84],"and":[33,61,77,85],"learning,":[34],"or":[35],"soft":[36],"constraint":[38],"formulations,":[39],"preserve":[41],"but":[44],"provide":[45],"limited":[46],"assurance.":[48],"We":[49,104],"propose":[50],"AutoSafe,":[51],"a":[52,91,109],"safety-aware":[53],"policy":[54],"architecture":[55],"that":[56],"integrates":[57],"structured":[58],"monitoring":[60],"intervention":[62],"directly":[63],"into":[64],"the":[65,122],"generation":[67],"process.":[68],"This":[69],"design":[70],"enables":[71],"smooth,":[72],"risk-dependent":[73],"transitions":[74],"between":[75],"performance-driven":[76],"safety-preserving":[78],"behaviors,":[79],"resulting":[80],"continuous":[82],"Empirical":[88],"results":[89],"across":[90],"suite":[92],"of":[93],"continuous-control":[94],"benchmarks":[95],"demonstrate":[96],"strong":[97],"without":[100],"sacrificing":[101],"smoothness.":[103],"further":[105],"validate":[106],"AutoSafe":[107],"physical":[110],"cart-pole":[111],"system,":[112],"highlighting":[113],"its":[114],"practical":[115],"effectiveness":[116],"for":[117],"safe":[118],"real":[123],"world.":[124]},"counts_by_year":[],"updated_date":"2026-07-02T06:18:51.028212","created_date":"2026-07-02T00:00:00"}
