相关论文: HuNavSim: A ROS 2 Human Navigation Simulator for B…

While effective navigation in large, crowded environments is essential for an autonomous robot, preliminary testing of algorithms to support it requires simulation across a broad range of crowd scenarios. Most available simulation tools…

Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…

This paper proposes a Social Reward Sources (SRS) design for a Human-Robot Collaborative Navigation (HRCN) task: human-robot collaborative search. It is a flexible approach capable of handling the collaborative task, human-robot interaction…

Visual navigation, a foundational aspect of Embodied AI (E-AI), has been significantly studied in the past few years. While many 3D simulators have been introduced to support visual navigation tasks, scarcely works have been directed…

In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…

This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…

Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…

Human-robot interaction (HRI) is an interdisciplinary field that utilises both quantitative and qualitative methods. While ROSBags, a file format within the Robot Operating System (ROS), offer an efficient means of collecting temporally…

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…

The socially-aware navigation system has evolved to adeptly avoid various obstacles while performing multiple tasks, such as point-to-point navigation, human-following, and -guiding. However, a prominent gap persists: in Human-Robot…

Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…

Learning how to navigate among humans in an occluded and spatially constrained indoor environment, is a key ability required to embodied agent to be integrated into our society. In this paper, we propose an end-to-end architecture that…

The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…

We present EgoNav, a system that enables a humanoid robot to traverse diverse, unseen environments by learning entirely from 5 hours of human walking data, with no robot data or finetuning. A diffusion model predicts distributions of…

Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…

Adapting to social conventions is an unavoidable requirement for the acceptance of assistive and social robots. While the scientific community broadly accepts that assistive robots and social robot companions are unlikely to have widespread…

Evaluation of social robot navigation inherently requires human input due to its qualitative nature. Motivated by the need to scale human evaluation, we propose a general method for deploying interactive, rich-client robotic simulations on…

This paper introduces YamaS, a simulator integrating Unity3D Engine with Robotic Operating System for robot navigation research and aims to facilitate the development of both Deep Reinforcement Learning (Deep-RL) and Natural Language…

The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…

In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…