相关论文: SocialNav: Training Human-Inspired Foundation Mode…

Socially compliant navigation is an integral part of safety features in Human-Robot Interaction. Traditional approaches to mobile navigation prioritize physical aspects, such as efficiency, but social behaviors gain traction as robots…

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…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

Current research in Visual Navigation reveals opportunities for improvement. First, the direct adoption of RNNs and Transformers often overlooks the specific differences between Embodied AI and traditional sequential data modelling,…

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…

Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…

In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…

Humans naturally rely on floor plans to navigate in unfamiliar environments, as they are readily available, reliable, and provide rich geometrical guidance. However, existing visual navigation settings overlook this valuable prior…

Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…

Embodied agents often struggle with efficient navigation because they rely primarily on partial egocentric observations, which restrict global foresight and lead to inefficient exploration. In contrast, humans plan using maps: we reason…

Social navigation has been gaining attentions with the growth in machine intelligence. Since reinforcement learning can select an action in the prediction phase at a low computational cost, it has been formulated in a social navigation…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

Social navigation datasets are necessary to assess social navigation algorithms and train machine learning algorithms. Most of the currently available datasets target pedestrians' movements as a pattern to be replicated by robots. It can be…

Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept; obeying these norms is an essential signal that someone is…

The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In…

In this paper, we present an algorithm to efficiently learn socially-compliant navigation policies from observations of human trajectories. As mobile robots come to inhabit and traffic social spaces, they must account for social cues and…

Modeling the cognitive and experiential factors of human navigation is central to deepening our understanding of human-environment interaction and to enabling safe social navigation and effective assistive wayfinding. Most existing methods…

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…

Reinforcement learning (RL) enables social robots to generate trajectories without relying on human-designed rules or interventions, making it generally more effective than rule-based systems in adapting to complex, dynamic real-world…

Embodied agents are expected to perform object navigation in dynamic, open-world environments. However, existing approaches typically rely on static trajectories and a fixed set of object categories during training, overlooking the…