相关论文: EgoMoD: Predicting Global Maps of Dynamics from Lo…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

This paper presents a method for future localization: to predict a set of plausible trajectories of ego-motion given a depth image. We predict paths avoiding obstacles, between objects, even paths turning around a corner into space behind…

Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for applications including motion planning,…

What if a video generation model could not only imagine a plausible future, but the correct one, accurately reflecting how the world changes with each action? We address this question by presenting the Egocentric World Model (EgoWM), a…

This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…

We present EgoNav, a system that enables a humanoid robot to traverse diverse, unseen environments by learning entirely from 5 hours of human walking data, with no robot data or finetuning. A diffusion model predicts distributions of…

We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…

In this paper, we investigate the problem of anticipating future dynamics, particularly the future location of other vehicles and pedestrians, in the view of a moving vehicle. We approach two fundamental challenges: (1) the partial…

Predicting future human behavior from egocentric videos is a challenging but critical task for human intention understanding. Existing methods for forecasting 2D hand positions rely on visual representations and mainly focus on hand-object…

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…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

Planning a path for a mobile robot typically requires building a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating in an unknown environment, the map built by the robot online may have many…

The ability of robots to model their own dynamics is key to autonomous planning and learning, as well as for autonomous damage detection and recovery. Traditionally, dynamic models are pre-programmed or learned from external observations.…

In a typical path planning pipeline for a ground robot, we build a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating indoors, a ground robot's knowledge about the environment may be limited due to…

Safe and efficient robot operation in complex human environments can benefit from good models of site-specific motion patterns. Maps of Dynamics (MoDs) provide such models by encoding statistical motion patterns in a map, but existing…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…