相关论文: Exploiting Proximity-Aware Tasks for Embodied Soci…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
We introduce Constrained Human-AI Cooperation (CHAIC), an inclusive embodied social intelligence challenge designed to test social perception and cooperation in embodied agents. In CHAIC, the goal is for an embodied agent equipped with…
Real-life robot navigation involves more than just reaching a destination; it requires optimizing movements while addressing scenario-specific goals. An intuitive way for humans to express these goals is through abstract cues like verbal…
Deployment in hazardous environments requires robots to understand the risks associated with their actions and movements to prevent accidents. Despite its importance, these risks are not explicitly modeled by currently deployed locomotion…
In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…
Embodied navigation requires agents to integrate perception, reasoning, and action for robust interaction in complex 3D environments. Existing approaches often suffer from incoherent and unstable reasoning traces that hinder generalization…
Enabling socially acceptable behavior for situated agents is a major goal of recent robotics research. Robots should not only operate safely around humans, but also abide by complex social norms. A key challenge for developing…
Autonomous navigation in crowded, complex urban environments requires interacting with other agents on the road. A common solution to this problem is to use a prediction model to guess the likely future actions of other agents. While this…
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…
Active recognition enables robots to intelligently explore novel observations, thereby acquiring more information while circumventing undesired viewing conditions. Recent approaches favor learning policies from simulated or collected data,…
For embodied agents, navigation is an important ability but not an isolated goal. Agents are also expected to perform specific tasks after reaching the target location, such as picking up objects and assembling them into a particular…
This work presents an embodied agent that can adapt its semantic segmentation network to new indoor environments in a fully autonomous way. Because semantic segmentation networks fail to generalize well to unseen environments, the agent…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
In this work, we study Cooperative Spatial Intelligence, the ability of decentralized embodied agents to coordinate effectively under dynamic environmental constraints across city-scale outdoor domains. We introduce Sentinel Challenge, a…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…
This paper describes a system developed to help people explore local communities by providing navigation services in social spaces created by the community members via communication and knowledge sharing. The proposed system utilizes data…
The social robot navigation is an open and challenging problem. In existing work, separate modules are used to capture spatial and temporal features, respectively. However, such methods lead to extra difficulties in improving the…
Embodied agents are evolving from passive reasoning systems into active executors that interact with tools, robots, and physical environments. Once granted execution authority, the central challenge becomes how to keep actions governable at…
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation…