相关论文: DenseCAvoid: Real-time Navigation in Dense Crowds …

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,…

Pedestrian detection in a crowd is a challenging task due to a high number of mutually-occluding human instances, which brings ambiguity and optimization difficulties to the current IoU-based ground truth assignment procedure in classical…

Safe and computationally efficient local planning for mobile robots in dense, unstructured human crowds remains a fundamental challenge. Moreover, ensuring that robot trajectories are similar to how a human moves will increase the…

Understanding and predicting the intention of pedestrians is essential to enable autonomous vehicles and mobile robots to navigate crowds. This problem becomes increasingly complex when we consider the uncertainty and multimodality of…

We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control…

Robots are increasingly being deployed in public spaces such as shopping malls, sidewalks, and hospitals, where safe and socially aware navigation depends on anticipating how pedestrians respond to their presence. However, existing datasets…

We present a relational graph learning approach for robotic crowd navigation using model-based deep reinforcement learning that plans actions by looking into the future. Our approach reasons about the relations between all agents based on…

In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…

Teaching autonomous mobile robots to successfully navigate human crowds is a challenging task. Not only does it require planning, but it requires maintaining social norms which may differ from one context to another. Here we focus on crowd…

Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…

For safe navigation around pedestrians, automated vehicles (AVs) need to plan their motion by accurately predicting pedestrians trajectories over long time horizons. Current approaches to AV motion planning around crosswalks predict only…

Accurately detecting and tracking pedestrians in 3D space is challenging due to large variations in rotations, poses and scales. The situation becomes even worse for dense crowds with severe occlusions. However, existing benchmarks either…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

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 robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…

Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…

We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

In this paper, we present the first experimental results of data-driven predictive control for connected and autonomous vehicles (CAVs) in dissipating traffic waves. In particular, we consider a recent strategy of Data-EnablEd Predicted…

Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…