相关论文: Safe Navigation with Human Instructions in Complex…

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…

Achieving social acceptance is one of the main goals of Social Robotic Navigation. Despite this topic has received increasing interest in recent years, most of the research has focused on driving the robotic agent along obstacle-free…

In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

Natural language-based robotic navigation remains a challenging problem due to the human knowledge of navigation constraints, and destination is not directly compatible with the robot knowledge base. In this paper, we aim to translate…

When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…

As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…

Construction robotics increasingly relies on natural language processing for task execution, creating a need for robust methods to interpret commands in complex, dynamic environments. While existing research primarily focuses on what tasks…

One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…

Socially compliant navigation requires robots to move safely and appropriately in human-centered environments by respecting social norms. However, social norms are often ambiguous, and in a single scenario, multiple actions may be equally…

Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…

Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…

We present a context classification pipeline to allow a robot to change its navigation strategy based on the observed social scenario. Socially-Aware Navigation considers social behavior in order to improve navigation around people. Most of…

Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…