相关论文: Benchmarking Classic and Learned Navigation in Com…

Integrable systems have provided various insights into physical phenomena and mathematics. The way of constructing many-body integrable systems is limited to few ansatzes for the Lax pair, except for highly inventive findings of conserved…

Social robot navigation algorithms are often demonstrated in overly simplified scenarios, prohibiting the extraction of practical insights about their relevance to real-world domains. Our key insight is that an understanding of the inherent…

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…

Recent efforts to enable visual navigation using large language models have mainly focused on developing complex prompt systems. These systems incorporate instructions, observations, and history into massive text prompts, which are then…

Physics-informed deep learning models have emerged as powerful tools for learning dynamical systems. These models directly encode physical principles into network architectures. However, systematic benchmarking of these approaches across…

We address planning and navigation in challenging 3D video games featuring maps with disconnected regions reachable by agents using special actions. In this setting, classical symbolic planners are not applicable or difficult to adapt. We…

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…

Accurate modeling of ship performance is crucial for the shipping industry to optimize fuel consumption and subsequently reduce emissions. However, predicting the speed-power relation in real-world conditions remains a challenge. In this…

Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcement learning, the…

Language models are increasingly used for social robot navigation, yet existing benchmarks largely overlook principled prompt design for socially compliant behavior. This limitation is particularly relevant in practice, as many systems rely…

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,…

Social, also called human-aware, navigation is a key challenge for the integration of mobile robots into human environments. The evaluation of such systems is complex, as factors such as comfort, safety, and legibility must be considered.…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

We investigate how a neural network can learn perception actions loops for navigation in unknown environments. Specifically, we consider how to learn to navigate in environments populated with cul-de-sacs that represent convex local minima…

Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…

Signal processing traditionally relies on classical statistical modeling techniques. Such model-based methods utilize mathematical formulations that represent the underlying physics, prior information and additional domain knowledge. Simple…

Learned Neural Network based policies have shown promising results for robot navigation. However, most of these approaches fall short of being used on a real robot due to the extensive simulated training they require. These simulations lack…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. navigating a complex environment)? What are the consequences of not utilizing such visual…