42 citations · 50 across the 14 of their papers we have counts for
3 papers · 2 filters
DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigation
James R. Han, Hugues Thomas, Jian Zhang +2
How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simula…
MakeWay: Object-Aware Costmaps for Proactive Indoor Navigation Using LiDAR
Binbin Xu, Allen Tao, Hugues Thomas +2
In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identi…
Embedding Pose Graph, Enabling 3D Foundation Model Capabilities with a Compact Representation
Hugues Thomas, Mouli Sivapurapu, Jian Zhang
This paper presents the Embedding Pose Graph (EPG), an innovative method that combines the strengths of foundation models with a simple 3D representation suitable for robotics appl…