Publications
A collection of my research work.
* denotes equal contribution; † denotes correspondence
Navigating the Proximity-Safety Balance: Constraint Decomposition for Human Following in Pedestrian Crowds
Shiting Gong*, Jianpeng Yao*, Jinfeng Wang, Marco Pavone, Jiachen Li†
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026
A multi-constraint reinforcement learning framework for following a target human in dense crowds, decomposing the task into a sparse reward and independent, tunable cost constraints and integrating human-motion prediction uncertainty to explicitly balance target proximity against safety.
Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation
Chengyang Peng, Zhihao Zhang, Shiting Gong, Sankalp Agrawal, Keith A. Redmill, Ayonga Hereid†
arXiv preprint 2025
A hierarchical navigation framework combining high-level RL dynamic subgoal pursuit and low-level LIP-MPC for bipedal robot navigation in cluttered environments.