Author

Seán F. McLoone

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Preprint Oct 2026

Leveraging Human-In-The-Loop Demonstrations in Reinforcement Learning for Digital Twin-Driven Robot Flexibility

Growing automation makes collaborative robots work in more variable environments, increasing the need for adaptation. We propose a human-in-the-loop online training framework combining a digital twin (DT), reinforcement learning (RL), and human demonstrations. Unlike DTs used mainly to generate synthetic data before ta...

Yu-Zhu Sun, Mien Van, Nhat M. Nguyen et al. · 0 citations

Conference Open access Aug 2026

Perception-Aware Control Barrier Function for Safe Navigation Under Uncertain LiDAR Observation

The method combines beam-wise barrier constraints with uncertainty-aware range-rate estimation from sequential LiDAR measurements and a predictive finite-horizon extension based on constant-input propagation to provide probabilistic safety guarantees at discrete sampling instants while preserving convexity and real-tim...

K. Olayemi, Mien Van, Seán F. McLoone et al. · 2026 IEEE International Conf... · 0 citations