Related papers: CoNav: A Benchmark for Human-Centered Collaborativ…
Despite rapid progress in autonomous web agents, human involvement remains essential for shaping preferences and correcting agent behavior as tasks unfold. However, current agentic systems lack a principled understanding of when and why…
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…
Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…
Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a…
With the rise of automation, unmanned vehicles became a hot topic both as commercial products and as a scientific research topic. It composes a multi-disciplinary field of robotics that encompasses embedded systems, control theory, path…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe interplay. In our work, we study human intent through the problem of…
Map representations learned by expert demonstrations have shown promising research value. However, the field of visual navigation still faces challenges due to the lack of real-world human-navigation datasets that can support efficient,…
People are proficient at communicating their intentions in order to avoid conflicts when navigating in narrow, crowded environments. In many situations mobile robots lack both the ability to interpret human intentions and the ability to…
Autonomous agents operating around human actors must consider how their behaviors might affect those humans, even when not directly interacting with them. To this end, it is often beneficial to be predictable and appear naturalistic.…
Visual navigation, a foundational aspect of Embodied AI (E-AI), has been significantly studied in the past few years. While many 3D simulators have been introduced to support visual navigation tasks, scarcely works have been directed…
Spatial cognition enables adaptive goal-directed behavior by constructing internal models of space. Robust biological systems consolidate spatial knowledge into three interconnected forms: \textit{landmarks} for salient cues, \textit{route…
We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest form, ObjectNav is defined as the task of navigating to an object, specified by its label, in an unexplored environment. In particular, the agent is initialized…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
Embodied agents are expected to perform object navigation in dynamic, open-world environments. However, existing approaches typically rely on static trajectories and a fixed set of object categories during training, overlooking the…
Image-goal navigation is a challenging task, as it requires the agent to navigate to a target indicated by an image in a previously unseen scene. Current methods introduce diverse memory mechanisms which save navigation history to solve…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
During crowd navigation, robot motion plan needs to consider human motion uncertainty, and the human motion uncertainty is dependent on the robot motion plan. We introduce Interaction-aware Conformal Prediction (ICP) to alternate…
Human navigation has been a topic of interest in spatial cognition from the past few decades. It has been experimentally observed that humans accomplish the task of way-finding a destination in an unknown environment by recognizing…