9 citations · 9 across the 4 of their papers we have counts for
5 papers
Rethinking Gaussian Trajectory Predictors: Calibrated Uncertainty for Safe Planning
Fatemeh Cheraghi Pouria, Mahsa Golchoubian, Katherine Driggs-Campbell
Accurate trajectory prediction is critical for safe autonomous navigation in crowded environments. While many trajectory predictors output Gaussian distributions to represent the m…
Hierarchical Intention Tracking with Switching Trees for Real-Time Adaptation to Dynamic Human Intentions during Collaboration
Zhe Huang, Ye-Ji Mun, Fatemeh Cheraghi Pouria +1
During collaborative tasks, human behavior is guided by multiple levels of intentions that evolve over time, such as task sequence preferences and interaction strategies. To adapt…
Interaction-aware Conformal Prediction for Crowd Navigation
Zhe Huang, Tianchen Ji, Heling Zhang +3
During crowd navigation, robot motion plan needs to consider human motion uncertainty, and the human motion uncertainty is dependent on the robot motion plan. We introduce Interact…
HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environments
Shuijing Liu, Haochen Xia, Fatemeh Cheraghi Pouria +5
We study the problem of robot navigation in dense and interactive crowds with static constraints such as corridors and furniture. Previous methods fail to consider all types of spa…
Topology-Guided ORCA: Smooth Multi-Agent Motion Planning in Constrained Environments
Fatemeh Cheraghi Pouria, Zhe Huang, Ananya Yammanuru +2
We present Topology-Guided ORCA as an alternative simulator to replace ORCA for planning smooth multi-agent motions in environments with static obstacles. Despite the impressive pe…