相关论文: GSON: A Group-based Social Navigation Framework wi…
Robots should exist anywhere humans do: indoors, outdoors, and even unmapped environments. In contrast, the focus of recent advancements in Object Goal Navigation(OGN) has targeted navigating in indoor environments by leveraging spatial and…
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,…
Understanding how humans evaluate robot behavior during human-robot interactions is crucial for developing socially aware robots that behave according to human expectations. While the traditional approach to capturing these evaluations is…
Social group detection is a crucial aspect of various robotic applications, including robot navigation and human-robot interactions. To date, a range of model-based techniques have been employed to address this challenge, such as the…
Zero-shot object navigation (ZSON) in unseen environments remains a challenging problem for household robots, requiring strong perceptual understanding and decision-making capabilities. While recent methods leverage metric maps and Large…
Zero-Shot Object Navigation (ZSON) enables agents to navigate towards open-vocabulary objects in unknown environments. The existing works of ZSON mainly focus on following individual instructions to find generic object classes, neglecting…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…
We present CoMet, a novel approach for computing a group's cohesion and using that to improve a robot's navigation in crowded scenes. Our approach uses a novel cohesion-metric that builds on prior work in social psychology. We compute this…
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…
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…
We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard due to the high dimensionality of multiagent domains and…
In the evolving landscape of transportation systems, integrating Large Language Models (LLMs) offers a promising frontier for advancing intelligent decision-making across various applications. This paper introduces a novel 3-dimensional…
This paper introduces SANGO (Socially Aware Navigation through Grouped Obstacles), a novel method that ensures socially appropriate behavior by dynamically grouping obstacles and adhering to social norms. Using deep reinforcement learning,…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
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…
Autonomous robots and vehicles are expected to soon become an integral part of our environment. Unsatisfactory issues regarding interaction with existing road users, performance in mixed-traffic areas and lack of interpretable behavior…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Critical for the coexistence of humans and robots in dynamic environments is the capability for agents to understand each other's actions, and anticipate their movements. This paper presents Stochastic Process Anticipatory Navigation…
We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…