相关论文: SocNav1: A Dataset to Benchmark and Learn Social N…

We propose VLM-Social-Nav, a novel Vision-Language Model (VLM) based navigation approach to compute a robot's motion in human-centered environments. Our goal is to make real-time decisions on robot actions that are socially compliant with…

Safe and efficient navigation in dynamic environments shared with humans remains an open and challenging task for mobile robots. Previous works have shown the efficacy of using reinforcement learning frameworks to train policies for…

Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…

Indoor navigation aims at performing navigation within buildings. In scenes like home and factory, most intelligent mobile devices require an functionality of routing to guide itself precisely through indoor scenes to complete various tasks…

We study the problem of safe and intention-aware robot navigation in dense and interactive crowds. Most previous reinforcement learning (RL) based methods fail to consider different types of interactions among all agents or ignore 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,…

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous…

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the…

This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…

Social navigation has been gaining attentions with the growth in machine intelligence. Since reinforcement learning can select an action in the prediction phase at a low computational cost, it has been formulated in a social navigation…

With the increasing availability and affordability of personal robots, they will no longer be confined to large corporate warehouses or factories but will instead be expected to operate in less controlled environments alongside larger…

Robots should be able to learn complex behaviors from human demonstrations. In practice, these human-provided datasets are inevitably imbalanced: i.e., the human demonstrates some subtasks more frequently than others. State-of-the-art…

Datasets have played a foundational role in the advancement of machine learning research. They form the basis for the models we design and deploy, as well as our primary medium for benchmarking and evaluation. Furthermore, the ways in which…

Towards human-robot coexistence, socially aware navigation is significant for mobile robots. Yet existing studies on this area focus mainly on path efficiency and pedestrian collision avoidance, which are essential but represent only a…

The breakthrough in Deep Learning neural networks has transformed the use of AI and machine learning technologies for the analysis of very large experimental datasets. These datasets are typically generated by large-scale experimental…

The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

As social beings, much human behavior is predicated on social context - the ambient social state that includes cultural norms, social signals, individual preferences, etc. In this paper, we propose a socially-aware task and motion planning…

The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…

Contemporary robots are increasingly mimicking human social behaviours to facilitate interaction, such as smiling to signal approachability, or hesitating before taking an action to allow people time to react. Such techniques can activate a…