相关论文: GSON: A Group-based Social Navigation Framework wi…

Navigating socially in human environments requires more than satisfying geometric constraints, as collision-free paths may still interfere with ongoing activities or conflict with social norms. Addressing this challenge calls for analyzing…

This study addresses the challenge of social bipedal navigation in a dynamic, human-crowded environment, a research area largely underexplored in legged robot navigation. We present a zonotope-based framework that couples prediction and…

Navigating human-populated environments without causing discomfort is a critical capability for socially-aware agents. While rule-based approaches offer interpretability through predefined psychological principles, they often lack…

Robots operating in human-populated environments must navigate safely and efficiently while minimizing social disruption. Achieving this requires estimating crowd movement to avoid congested areas in real-time. Traditional microscopic…

Multi-pedestrian trajectory prediction is an indispensable element of autonomous systems that safely interact with crowds in unstructured environments. Many recent efforts in trajectory prediction algorithms have focused on understanding…

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…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

Mobile robot navigation in dynamic environments with pedestrian traffic is a key challenge in the development of autonomous mobile service robots. Recently, deep reinforcement learning-based methods have been actively studied and have…

As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe interplay. In our work, we study human intent through the problem of…

Autonomous mobile robots offer promising solutions for labor shortages and increased operational efficiency. However, navigating safely and effectively in dynamic environments, particularly crowded areas, remains challenging. This paper…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

Adaptive navigation in unfamiliar environments is crucial for household service robots but remains challenging due to the need for both low-level path planning and high-level scene understanding. While recent vision-language model (VLM)…

This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…

Achieving social acceptance is one of the main goals of Social Robotic Navigation. Despite this topic has received increasing interest in recent years, most of the research has focused on driving the robotic agent along obstacle-free…

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…

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…

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…

Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…