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Safety-aware Skill Adaptation for Reinforcement Learning in Dynamic Environments

arXiv · AI, language, vision and robotics · article · Sep 10, 2026 · UTC

Skill adaptation frameworks based on reinforcement learning often require restrictive assumptions to maintain stability, such as fixed observations or tightly controlled exploration schedules. In cluttered and dynamic environments, however, unrestricted exploration can lead to unsafe behaviour and unstable learning, particularly when task-relevant observations lie near obstacles or involve moving objects. In this work, we present Dist-GPRL, a distance-aware and safety-guided reinforcement learning framework for structured robot skill adaptation. Building upon Gaussian Process (GP)-based skill

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