相关论文: Exploiting Proximity-Aware Tasks for Embodied Soci…

We investigate the feasibility of deploying reinforcement learning (RL) policies for constrained crowd navigation using a low-fidelity simulator. We introduce a representation of the dynamic environment, separating human and obstacle…

To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…

The last few years have witnessed substantial progress in the field of embodied AI where artificial agents, mirroring biological counterparts, are now able to learn from interaction to accomplish complex tasks. Despite this success,…

Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…

Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many existing approaches emphasize safety or efficiency while…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…

Existing navigation policies for autonomous robots tend to focus on collision avoidance while ignoring human-robot interactions in social life. For instance, robots can pass along the corridor safer and easier if pedestrians notice them.…

AI agents today are mostly siloed - they either retrieve and reason over vast amount of digital information and knowledge obtained online; or interact with the physical world through embodied perception, planning and action - but rarely…

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…

Training intelligent agents that can drive autonomously in various urban and highway scenarios has been a hot topic in the robotics society within the last decades. However, the diversity of driving environments in terms of road topology…

In this paper, we present the Role Playing Learning (RPL) scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks (NN) are constructed to parameterize a stochastic policy that…

The low-level sensory and motor signals in deep reinforcement learning, which exist in high-dimensional spaces such as image observations or motor torques, are inherently challenging to understand or utilize directly for downstream tasks.…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

A major goal in robotics is to enable intelligent mobile robots to operate smoothly in shared human-robot environments. One of the most fundamental capabilities in service of this goal is competent navigation in this ``social" context. As a…

Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and can pose risk. Learning from expert demonstrations, on the…

Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that…