相关论文: Socially Aware Crowd Navigation with Multimodal Pe…
One desirable capability of autonomous cars is to accurately predict the pedestrian motion near intersections for safe and efficient trajectory planning. We are interested in developing transfer learning algorithms that can be trained on…
Learning socially-aware motion representations is at the core of recent advances in multi-agent problems, such as human motion forecasting and robot navigation in crowds. Despite promising progress, existing representations learned with…
As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS) primarily focus on basic tasks, leaving unexpected…
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.…
Since the emergence of autonomous driving technology, it has advanced rapidly over the past decade. It is becoming increasingly likely that autonomous vehicles (AVs) would soon coexist with human-driven vehicles (HVs) on the roads.…
Pedestrian detection is an initial step to perform outdoor scene analysis, which plays an essential role in many real-world applications. Although having enjoyed the merits of deep learning frameworks from the generic object detectors,…
A trust-aware safe control system for autonomous navigation in the presence of humans, specifically pedestrians, is presented. The system combines model predictive control (MPC) with control barrier functions (CBFs) and trust estimation to…
In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation…
Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…
Hybrid traffic which involves both autonomous and human-driven vehicles would be the norm of the autonomous vehicles practice for a while. On the one hand, unlike autonomous vehicles, human-driven vehicles could exhibit sudden abnormal…
Multi-task intersection navigation including the unprotected turning left, turning right, and going straight in dense traffic is still a challenging task for autonomous driving. For the human driver, the negotiation skill with other…
Pedestrian trajectory prediction is a challenging task because of the complexity of real-world human social behaviors and uncertainty of the future motion. For the first issue, existing methods adopt fully connected topology for modeling…
Predicting crowd intentions and trajectories is critical for a range of real-world applications, involving social robotics and autonomous driving. Accurately modeling such behavior remains challenging due to the complexity of pairwise…
Studies have shown that autonomous vehicles (AVs) behave conservatively in a traffic environment composed of human drivers and do not adapt to local conditions and socio-cultural norms. It is known that socially aware AVs can be designed if…
Accurate prediction of pedestrian trajectories is essential for applications in robotics and surveillance systems. While existing approaches primarily focus on social interactions between pedestrians, they often overlook the rich…
Predicting both the time and the location of human movements is valuable but challenging for a variety of applications. To address this problem, we propose an approach considering both the periodicity and the sociality of human movements.…
Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system…
While powered wheelchairs reduce physical fatigue as opposed to manual wheelchairs for individuals with mobility impairment, they demand high cognitive workload due to information processing, decision making and motor coordination. Current…
We present a real-time algorithm for emotion-aware navigation of a robot among pedestrians. Our approach estimates time-varying emotional behaviors of pedestrians from their faces and trajectories using a combination of Bayesian-inference,…
Understanding human motion is crucial for accurate pedestrian trajectory prediction. Conventional methods typically rely on supervised learning, where ground-truth labels are directly optimized against predicted trajectories. This amplifies…