相关论文: Social Attention: Modeling Attention in Human Crow…

Analyzing and forecasting trajectories of agents like pedestrians and cars in complex scenes has become more and more significant in many intelligent systems and applications. The diversity and uncertainty in socially interactive behaviors…

Autonomous vehicles navigate in dynamically changing environments under a wide variety of conditions, being continuously influenced by surrounding objects. Modelling interactions among agents is essential for accurately forecasting other…

Adaptively forecasting human behavior in social settings is an important step toward achieving Artificial General Intelligence. Most existing research in social forecasting has focused either on unfocused interactions, such as pedestrian…

Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empirically shown to enable a mobile robot's…

Understanding crowd motion dynamics is critical to real-world applications, e.g., surveillance systems and autonomous driving. This is challenging because it requires effectively modeling the socially aware crowd spatial interaction and…

Effective modeling of human interactions is of utmost importance when forecasting behaviors such as future trajectories. Each individual, with its motion, influences surrounding agents since everyone obeys to social non-written rules such…

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…

This paper introduces a crowd modeling and motion control approach that employs diffusion adaptation within an adaptive network. In the network, nodes collaboratively address specific estimation problems while simultaneously moving as…

We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…

Recent developments in sensing technologies have enabled us to examine the nature of human social behavior in greater detail. By applying an information theoretic method to the spatiotemporal data of cell-phone locations, [C. Song et al.…

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…

Studying the behavior of crowds is vital for understanding and predicting human interactions in public areas. Research has shown that, under certain conditions, large groups of people can form collective behavior patterns: local…

Robot navigation through crowds poses a difficult challenge to AI systems, since the methods should result in fast and efficient movement but at the same time are not allowed to compromise safety. Most approaches to date were focused on the…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

In this paper, we present an algorithm to efficiently learn socially-compliant navigation policies from observations of human trajectories. As mobile robots come to inhabit and traffic social spaces, they must account for social cues and…

Humans interacting with robots often form predictions of what the robot will do next. For instance, based on the recent behavior of an autonomous car, a nearby human driver might predict that the car is going to remain in the same lane. It…

We present CoMet, a novel approach for computing a group's cohesion and using that to improve a robot's navigation in crowded scenes. Our approach uses a novel cohesion-metric that builds on prior work in social psychology. We compute this…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

Communication robots often need to initiate conversations with people in public spaces. At the same time, such robots must not disturb pedestrians. To handle these two requirements, an agent needs to estimate the communication desires of…