Safe and Robust Neural Policy Learning with Statistical Verification for Sim-to-Real Deployment in Robotics

arXiv:2608.06481 · cs.RO, cs.AI, cs.LG, cs.NE · Submitted 2026-08-06 · Read on arXiv

cs.RO, cs.AI, cs.LG, cs.NE

Submitted: 2026-08-06

Updated: 2026-10-02

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Verification — 25× in this paper · explained in 2 episodes
• Reinforcement Learning — 20× in this paper · explained in 4 episodes
• Robustness — 10× in this paper · explained in 5 episodes
• Actor — 8× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 7× in this paper · explained in 3 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• Formal Verification — 5× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 5× in this paper · explained in 2 episodes
• Core — 4× in this paper · explained in 2 episodes
• Bilevel Optimization — 2× in this paper · explained in 2 episodes
• Evolution Strategy — 2× in this paper
• Objective Function — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Adversarial Training — 1× in this paper · explained in 1 episode
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Deep Reinforcement Learning (DRL) — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Evolutionary Optimization and Statistical Model Checking — 1× in this paper
• Fidelity — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Linear Matrix Inequality — 1× in this paper
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Markov Decision Process (MDP) — 1× in this paper · explained in 15 episodes
• Parameterization — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reward Function — 1× in this paper · explained in 4 episodes
• Reward Shaping — 1× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Transferability — 1× in this paper · explained in 5 episodes
• Violation Probability — 1× in this paper
• World Model — 1× in this paper · explained in 7 episodes
• Worst-case Return — 1× in this paper

Sources

• SMC-ES: Automated synthesis of formally verified control policies
• Evolution Strategies as a Scalable Alternative to Reinforcement Learning

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