Related papers: HabiCrowd: A High Performance Simulator for Crowd-…
Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all…
We present a real-time, data-driven algorithm to enhance the social-invisibility of robots within crowds. Our approach is based on prior psychological research, which reveals that people notice and--importantly--react negatively to groups…
Predicting human mobility is crucial for urban planning, traffic control, and emergency response. Mobility behaviors can be categorized into individual and collective, and these behaviors are recorded by diverse mobility data, such as…
With the emergence of varied visual navigation tasks (e.g, image-/object-/audio-goal and vision-language navigation) that specify the target in different ways, the community has made appealing advances in training specialized agents capable…
As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…
Embodied agents, trained to explore and navigate indoor photorealistic environments, have achieved impressive results on standard datasets and benchmarks. So far, experiments and evaluations have involved domestic and working scenes like…
Recent advances in humanoid locomotion have enabled dynamic behaviors such as dancing, martial arts, and parkour, yet these capabilities are predominantly demonstrated in open, flat, and obstacle-free settings. In contrast, real-world…
Social navigation is the capability of an autonomous agent, such as a robot, to navigate in a 'socially compliant' manner in the presence of other intelligent agents such as humans. With the emergence of autonomously navigating mobile…
Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a concept known as shared intelligence. Additionally, humans…
Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…
There has been significant interest in crowdsourcing and human computation. One subclass of human computation applications are those directed at tasks that involve planning (e.g. travel planning) and scheduling (e.g. conference scheduling).…
Dense human flow has been a concern for the safety of public events for a long time. Macroscopic pedestrian models, which are mainly based on fluid dynamics, are often used to simulate huge crowds due to their low computational costs.…
Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept; obeying these norms is an essential signal that someone is…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
Autonomous navigation requires a broad spectrum of skills, from static goal-reaching to dynamic social traversal, yet evaluation remains fragmented across disparate protocols. We introduce DynBench, a dynamic navigation benchmark featuring…
Existing AGR navigation systems have advanced in lightly occluded scenarios (e.g., buildings) by employing 3D semantic scene completion networks for voxel occupancy prediction and constructing Euclidean Signed Distance Field (ESDF) maps for…
We present Habitat, a platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3D simulation. Specifically, Habitat consists of: (i)…
Mobile telepresence robots (MTRs) have become increasingly popular in the expanding world of remote work, providing new avenues for people to actively participate in activities at a distance. However, humans operating MTRs often have…
Understanding and predicting human visuomotor coordination is crucial for applications in robotics, human-computer interaction, and assistive technologies. This work introduces a forecasting-based task for visuomotor modeling, where the…
In recent years, there has been a significant amount of research on algorithms and control methods for distributed collaborative robots. However, the emergence of collective behavior in a swarm is still difficult to predict and control.…