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Guidance is an emerging concept that improves the empirical performance of real-time, sub-optimal multi-agent pathfinding (MAPF) methods. It offers additional information to MAPF algorithms to mitigate congestion on a global scale by…
For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…
Flow matching (FM) trains a time-dependent vector field that transports samples from a simple prior to a complex data distribution. However, for high-dimensional images, each training sample supervises only a single trajectory and…
Obstacle avoidance in complex and dynamic environments is a critical challenge for real-time robot navigation. Model-based and learning-based methods often fail in highly dynamic scenarios because traditional methods assume a static…
Commonly, learning-based topological navigation approaches produce a local policy while preserving some loose connectivity of the space through a topological map. Nevertheless, spurious or missing edges in the topological graph often lead…
In neuroscience, researchers typically conduct experiments under multiple conditions to acquire neural responses in the form of high-dimensional spike train datasets. Analysing high-dimensional spike data is a challenging statistical…
Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…
Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that…
In crowd navigation, the local goal plays a crucial role in trajectory initialization, optimization, and evaluation. Recognizing that when the global goal is distant, the robot's primary objective is avoiding collisions, making it less…
Recent studies have explored pretrained (foundation) models for vision-based robotic navigation, aiming to achieve generalizable navigation and positive transfer across diverse environments while enhancing zero-shot performance in unseen…
Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
Among sub-optimal Multi-Agent Path Finding (MAPF) solvers, rule-based algorithms are particularly appealing since they are complete. Even in crowded scenarios, they allow finding a feasible solution that brings each agent to its target,…
Robust navigation in urban environments has received a considerable amount of both academic and commercial interest over recent years. This is primarily due to large commercial organizations such as Google and Uber stepping into the…
Collaborative pursuit-evasion in cluttered environments presents significant challenges due to sparse rewards and constrained Fields of View (FOV). Standard Multi-Agent Reinforcement Learning (MARL) often suffers from inefficient…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
Social navigation has been gaining attentions with the growth in machine intelligence. Since reinforcement learning can select an action in the prediction phase at a low computational cost, it has been formulated in a social navigation…
In the sequential decision making setting, an agent aims to achieve systematic generalization over a large, possibly infinite, set of environments. Such environments are modeled as discrete Markov decision processes with both states and…