相关论文: SOCIALGYM 2.0: Simulator for Multi-Agent Social Ro…

Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…

It is essential for autonomous robots to be socially compliant while navigating in human-populated environments. Machine Learning and, especially, Deep Reinforcement Learning have recently gained considerable traction in the field of Social…

In public spaces shared with humans, ensuring multi-robot systems navigate without collisions while respecting social norms is challenging, particularly with limited communication. Although current robot social navigation techniques…

The rise of embodied AI has greatly improved the possibility of general mobile agent systems. At present, many evaluation platforms with rich scenes, high visual fidelity and various application scenarios have been developed. In this paper,…

This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, programmed under the ROS 2…

The future robots are expected to work in a shared physical space with humans [1], however, the presence of humans leads to a dynamic environment that is challenging for mobile robots to navigate. The path planning algorithms designed to…

A team of multiple robots seamlessly and safely working in human-filled public environments requires adaptive task allocation and socially-aware navigation that account for dynamic human behavior. Current approaches struggle with highly…

We introduce a novel virtual robotic toolkit myGym, developed for reinforcement learning (RL), intrinsic motivation and imitation learning tasks trained in a 3D simulator. The trained tasks can then be easily transferred to real-world…

This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2…

Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…

Building upon our previous contributions, this paper introduces Arena 3.0, an extension of Arena-Bench, Arena 1.0, and Arena 2.0. Arena 3.0 is a comprehensive software stack containing multiple modules and simulation environments focusing…

In this paper, we introduce OpenSocInt, an open-source software package providing a simulator for multi-modal social interactions and a modular architecture to train social agents. We described the software package and showcased its…

Teams of people coordinate to perform complex tasks by forming abstract mental models of world and agent dynamics. The use of abstract models contrasts with much recent work in robot learning that uses a high-fidelity simulator and…

Recent advances in robotics and large language models (LLMs) have sparked growing interest in human-robot collaboration and embodied intelligence. To enable the broader deployment of robots in human-populated environments, socially-aware…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept; obeying these norms is an essential signal that someone is…

Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…

This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…

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…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…