相关论文: Spatio-Temporal Transformer-Based Reinforcement Le…

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.…

A variety of autonomous navigation algorithms exist that allow robots to move around in a safe and fast manner. However, many of these algorithms require parameter re-tuning when facing new environments. In this paper, we propose PTDRL, a…

Conditional entropy models effectively leverage spatio-temporal contexts to reduce video redundancy. However, incorporating temporal context often introduces additional model complexity and increases computational cost. In parallel, many…

The precise prediction of human mobility has produced significant socioeconomic impacts, such as location recommendations and evacuation suggestions. However, existing methods suffer from limited generalization capability: unimodal…

There has been a recent surge of interest in time series modeling using the Transformer architecture. However, forecasting multivariate time series with Transformer presents a unique challenge as it requires modeling both temporal…

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…

Traffic forecasting has emerged as a core component of intelligent transportation systems. However, timely accurate traffic forecasting, especially long-term forecasting, still remains an open challenge due to the highly nonlinear and…

Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…

Robots navigating in human crowds need to optimize their paths not only for their task performance but also for their compliance to social norms. One of the key challenges in this context is the lack of standard metrics for evaluating and…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

The past decade has witnessed significant advances in time series modeling with deep learning. While achieving state-of-the-art results, the best-performing architectures vary highly across applications and domains. Meanwhile, for natural…

Urban traffic speed prediction aims to estimate the future traffic speed for improving the urban transportation services. Enormous efforts have been made on exploiting spatial correlations and temporal dependencies of traffic speed evolving…

The success of collaboration between humans and robots in shared environments relies on the robot's real-time adaptation to human motion. Specifically, in Social Navigation, the agent should be close enough to assist but ready to back up to…

Capturing the dependencies between joints is critical in skeleton-based action recognition task. Transformer shows great potential to model the correlation of important joints. However, the existing Transformer-based methods cannot capture…

While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…

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…

Deep-Learning-based video recognition has shown promising improvements along with the development of large-scale datasets and spatiotemporal network architectures. In image recognition, learning spatially invariant features is a key factor…

This work is dedicated to the study of how uncertainty estimation of the human motion prediction can be embedded into constrained optimization techniques, such as Model Predictive Control (MPC) for the social robot navigation. We propose…

With the emergence of large model-based agents, widely adopted transformer-based architectures inevitably produce excessively long token embeddings for transmission, which may result in high bandwidth overhead, increased power consumption…

Pedestrian trajectory prediction is an essential and challenging task for a variety of real-life applications such as autonomous driving and robotic motion planning. Besides generating a single future path, predicting multiple plausible…