# Reachability-Learning-Based Safety Representations for Real-Time Robot Navigation in Unknown Dynamic Environments

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/gru1bgyptlbzpzgs370qrzt6q
- Original: https://arxiv.org/abs/2610.16522

## Summary

This dissertation uses offline-trained neural implicit representations to provide the value function from Hamilton-Jacobi (HJ) reachability analysis in real time to optimization-based controllers, addressing the inadequacy of geometric collision checking in unknown dynamic environments.