Related papers: Long-Term Robot Navigation in Indoor Environments …
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…
Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in trajectory planning have leveraged vision-language models (VLMs) to…
Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…
Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
Robot manipulation is increasingly poised to interact with humans in co-shared workspaces. Despite increasingly robust manipulation and control algorithms, failure modes continue to exist whenever models do not capture the dynamics of the…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…
We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…
This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…
Planning a path for a mobile robot typically requires building a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating in an unknown environment, the map built by the robot online may have many…
How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…
Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…