相关论文: Hyp2Nav: Hyperbolic Planning and Curiosity for Cro…

This work presents a deep reinforcement learning framework for interactive navigation in a crowded place. Our proposed approach, Learning to Balance (L2B) framework enables mobile robot agents to steer safely towards their destinations by…

Metric learning plays a critical role in training image retrieval and classification. It is also a key algorithm in representation learning, e.g., for feature learning and its alignment in metric space. Hyperbolic embedding has been…

Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…

Metric learning aims to learn a highly discriminative model encouraging the embeddings of similar classes to be close in the chosen metrics and pushed apart for dissimilar ones. The common recipe is to use an encoder to extract embeddings…

Hypergraphs have been becoming a popular choice to model complex, non-pairwise, and higher-order interactions for recommender system. However, compared with traditional graph-based methods, the constructed hypergraphs are usually much…

Autonomous navigation in crowded environments is an open problem with many applications, essential for the coexistence of robots and humans in the smart cities of the future. In recent years, deep reinforcement learning approaches have…

We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…

Recently, there has been a rising surge of momentum for deep representation learning in hyperbolic spaces due to theirhigh capacity of modeling data like knowledge graphs or synonym hierarchies, possessing hierarchical structure. We refer…

Embedding into hyperbolic space is emerging as an effective representation technique for datasets that exhibit hierarchical structure. This development motivates the need for algorithms that are able to effectively extract knowledge and…

Path planning is a fundamental capability for autonomous navigation of robotic wheelchairs. With the impressive development of deep-learning technologies, imitation learning-based path planning approaches have achieved effective results in…

We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control…

Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…

We introduce hyperbolic attention networks to endow neural networks with enough capacity to match the complexity of data with hierarchical and power-law structure. A few recent approaches have successfully demonstrated the benefits of…

Finding the optimal embedding of networks into low-dimensional hyperbolic spaces is a challenge that received considerable interest in recent years, with several different approaches proposed in the literature. In general, these methods…

Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…

Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…

As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…

Hierarchical reinforcement learning deals with the problem of breaking down large tasks into meaningful sub-tasks. Autonomous discovery of these sub-tasks has remained a challenging problem. We propose a novel method of learning sub-tasks…

Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…