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The concept of traversability is extended from robot-centric to human-centric by accounting for the operator's cognitive states, such as attention, workload, and risk tolerance or awareness, termed tele-traversability, and is revisited and extended to teleoperation settings.
By blending physics-informed priors into model-free RL, H-EARS offers a lightweight, linear-complexity approach to significantly boost convergence, stability, and energy efficiency in continuous control tasks.
