Related papers: SICNav-Diffusion: Safe and Interactive Crowd Navig…
Learning priors on trajectory distributions can help accelerate robot motion planning optimization. Given previously successful plans, learning trajectory generative models as priors for a new planning problem is highly desirable. Prior…
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…
We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
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,…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
The evaluation of robot capabilities to navigate human crowds is essential to conceive new robots intended to operate in public spaces. This paper initiates the development of a benchmark tool to evaluate such capabilities; our long term…
Stochastic human motion prediction is critical for safe and effective human-robot collaboration (HRC) in industrial remanufacturing, as it captures human motion uncertainties and multi-modal behaviors that deterministic methods cannot…
This paper presents a fully decentralized approach for realtime non-cooperative multi-robot navigation in social mini-games, such as navigating through a narrow doorway or negotiating right of way at a corridor intersection. Our…
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication…
Creating group choreography from music is crucial in cultural entertainment and virtual reality, with a focus on generating harmonious movements. Despite growing interest, recent approaches often struggle with two major challenges:…
In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…
Realistic driving simulation requires that NPCs not only mimic natural driving behaviors but also react to the behavior of other simulated agents. Recent developments in diffusion-based scenario generation focus on creating diverse and…
Acting in cluttered environments requires predicting and avoiding collisions while still achieving precise control. Conventional optimization-based controllers can enforce physical constraints, but they struggle to produce feasible…
We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…
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…
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and…
For mobile robots navigating on sidewalks, it is essential to be able to safely cross street intersections. Most existing approaches rely on the recognition of the traffic light signal to make an informed crossing decision. Although these…
Accurate prediction of human or vehicle trajectories with good diversity that captures their stochastic nature is an essential task for many applications. However, many trajectory prediction models produce unreasonable trajectory samples…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…