相关论文: Interaction-aware Conformal Prediction for Crowd N…

Safe navigation in dynamic environments remains challenging due to uncertain obstacle behaviors and the lack of formal prediction guarantees. We propose two motion planning frameworks that leverage conformal prediction (CP): a global…

Forecasting human trajectories is critical for tasks such as robot crowd navigation and autonomous driving. Modeling social interactions is of great importance for accurate group-wise motion prediction. However, most existing methods do not…

In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…

Robots need to predict and react to human motions to navigate through a crowd without collisions. Many existing methods decouple prediction from planning, which does not account for the interaction between robot and human motions and can…

To navigate crowds without collisions, robots must interact with humans by forecasting their future motion and reacting accordingly. While learning-based prediction models have shown success in generating likely human trajectory…

Inductive Conformal Prediction (ICP) is a set of distribution-free and model agnostic algorithms devised to predict with a user-defined confidence with coverage guarantee. Instead of having point predictions, i.e., a real number in the case…

Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many existing approaches emphasize safety or efficiency while…

Safe and efficient navigation in crowded environments remains a critical challenge for robots that provide a variety of service tasks such as food delivery or autonomous wheelchair mobility. Classical robot crowd navigation methods decouple…

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 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…

The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…

Uncertainty-aware prediction is essential for safe motion planning, especially when using learned models to forecast the behavior of surrounding agents. Conformal prediction is a statistical tool often used to produce uncertainty-aware…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

Conformal prediction (CP) has emerged as a powerful tool in robotics and control, thanks to its ability to calibrate complex, data-driven models with formal guarantees. However, in robot navigation tasks, existing CP-based methods often…

Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…

Socially compliant navigation requires robots to move safely and appropriately in human-centered environments by respecting social norms. However, social norms are often ambiguous, and in a single scenario, multiple actions may be equally…

Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…

We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…

Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…