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Beyond Binary Edits Robust Multimodal Knowledge Editing with Adversarial Subspace Alignment Agentic Proving for Program Verification MemAudit: Post-hoc Auditing of Poisoned Agent Memory via Causal Attribution and Structural Anomaly Detection OpenSkillEval: Automatically Auditing the Open Skill Ecosystem for LLM Agents One Policy, Infinite NPCs: Persona-Traceable Shared RL Policies for Scalable Game Agents How Human-Like Are Large Language Models? A Register-Aware Linguistic Evaluation Framework Benchmarking Google Embeddings 2 against Open-Source Models for Multilingual Dense Retrieval and RAG Systems Structure-Guided Entity Resolution: Fine-Tuning LLMs for Robust Name Matching in Complex Linguistic Contexts Solving the Aircraft Disassembly Scheduling Problem Co-ReAct: Rubrics as Step-Level Collaborators for ReAct Agents CP or DP? Why Not Both: A Case Study in the Partial Shop Scheduling Problem Asking For An Old Friend: Diagnosing and Mitigating Temporal Failure Modes in LLM-based Statutory Question Answering EDGE-OPD: Internalizing Privileged Context with Evidence Guided On-Policy Distillation ARES: Automated Rubric Synthesis for Scalable LLM Reinforcement Learning SSDAU: Structured Semantic Data Augmentation for Joint Entity and Relation Extraction Naturalistic measure of social norms alignment Articulatory strategy as a source of variation in acoustic vowel dynamics When Planning Fails Despite Correct Execution: On Epistemic Calibration for LLM-Based Multi-Agent Systems EquiSumm : A Gender Bias-Aware Framework for Inclusive Tweet Summarization Metacognition as Reward: Reinforcing LLM Reasoning via Knowledge and Regulation Signals From Correctness to Preference: A Framework for Personalized Agentic Reinforcement Learning Cultural Adaptation in Large Language Models for Political Discourse Emotion Recognition in Sign Language Conversation ClimateChat-300K: A Multi-Modal Facebook Dataset for Understanding Diverse Perspectives in Climate Communication AraHopeCorpus: Annotation Guidelines and Dataset for Hope Speech in Arabic Social Media Crisis Discourse Human-in-the-Loop Multi-Agent Ventilator Decision Support with Contextual Bandit Preference Learning Convergence Without Understanding: When Language Models Agree on Representations but Disagree on Reasoning DART: Semantic Recoverability for Structured Tool Agents Ontological Knowledge Blocks: Executable Compliance and Profile-Based Validation for Trustworthy AI Systems Parallel Context Compaction for Long-Horizon LLM Agent Serving
Credibility-Aware Learning and Control for Safe USV Navig...
[Submitted on 26 May 2026 (v1), last revised 24 Aug 2026 (this v · 2026-05-26 · via cs updates on arXiv.org

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Abstract:Safe navigation for Unmanned Surface Vehicles (USVs) under the International Regulations for Preventing Collisions at Sea (COLREGs) remains challenging in dynamic maritime environments, especially when perception uncertainty is miscalibrated. Errors in state estimation can produce unreliable belief states that mislead value learning, while logic based on discrete traffic rules can cause abrupt action corrections. To address these challenges, we integrate Credibility-Weighted Value Learning (CWVL) with Covariance- and Recovery-Aware Control Barrier Function Quadratic Programming (CoReCBF-QP). CWVL derives a dynamic trust factor from the discrepancy between the covariance estimated by the filter and empirical error statistics. This factor modulates the critic's heteroscedastic loss and limits overfitting to miscalibrated observations. CoReCBF expands the collision geometry according to uncertainty and incorporates terms for braking and turning recovery. The resulting hyperbolic safety boundary preserves feasible avoidance velocities and supplies the QP safety constraint. A continuous COLREGs-aware reference in the objective promotes starboard maneuvers in Rule 14 head-on and Rule 15 give-way crossing encounters. Simulations show improved robustness in collision avoidance and COLREGs event compliance, achieving an 82.0\% success rate with ten target ships beyond the training range.

Submission history

From: Yuhang Zhang [view email]
[v1] Tue, 26 May 2026 12:59:43 UTC (1,593 KB)
[v2] Thu, 28 May 2026 13:48:10 UTC (521 KB)
[v3] Fri, 5 Jun 2026 09:05:23 UTC (568 KB)
[v4] Mon, 24 Aug 2026 16:56:37 UTC (660 KB)