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--> [Submitted on 10 Aug 2026] Title:Navigating the Proximity-Safety Balance: Constraint Decomposition for Human Following in Pedestrian Crowds View a PDF of the paper titled Navigating the Proximity-Safety Balance: Constraint Decomposition for Human Following in Pedestrian Crowds, by Shiting Gong and 4 other authors View PDF HTML (experimental) Abstract:Following a target human in crowded environments involves an inherent conflict between staying close to the target and navigating safely among surrounding pedestrians and obstacles. This conflict becomes more severe in dense scenarios, where aggressive following risks collisions and conservative margins lead to target loss, especially when pedestrian behaviors are unfamiliar or unpredictable. Existing reinforcement learning (RL) methods typically encode these competing objectives into a single dense reward, but the resulting proximity-safety balance is implicit and difficult to adjust across conditions. To address this, we decompose the human-following task into a sparse task reward and independent cost constraints within a multi-constraint RL formulation, where each constraint is managed through cost thresholds with direct behavioral meaning rather than implicit reward weight ratios, allowing explicit and tunable control over the trade-off. We further quantify the prediction uncertainty of human motions and integrate these estimates into the RL costs to enhance safety under unpredictable conditions. Extensive experiments across both in-distribution and out-of-distribution settings demonstrate that our method achieves an effective proximity-safety balance compared to baselines. Real-robot deployment further validates the feasibility of our method in real-world scenarios. More details are available on our project page: this https URL. Comments: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026); Project Website: this https URL Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG); Systems and Control (eess.SY) Cite as: arXiv:2608.10056 [cs.RO] (or arXiv:2608.10056v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.10056 arXiv-issued DOI via DataCite (pending registration) Submission history From: Jiachen Li [view email] [v1] Mon, 10 Aug 2026 17:59:15 UTC (1,035 KB) Full-text links: Access Paper: View a PDF of the paper titled Navigating the Proximity-Safety Balance: Constraint Decomposition for Human Following in Pedestrian Crowds, by Shiting Gong and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.AI cs.LG cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)