16 citations · 20 across the 20 of their papers we have counts for
19 papers · 1 filter
Hydra: A Navigation World Action Model with Discrete Latent Planning and Continuous Flow-Matching Execution
Mohammad Nazeri, Alexandyr Card, Samira Huber +6
World models let robots imagine possible futures, but exploiting this capability for real-time planning is bottlenecked by a representation misalignment: generative models and plan…
ACME: A Multi-Cultural, Multi-Embodiment Social-Navigation Dataset
Shashank Rao Marpally, Allan Wang, Atharva Ghotavadekar +35
Understanding how robots and humans move in shared spaces is essential for designing effective social robot navigation policies and predicting human behavior. However, existing dat…
HumAIN: Human-Aware Implicit Social Robot Navigation
Daeun Song, Nhat Le, Jeffrey Chen +7
Effective social robot navigation requires sensitivity to human behavior, often revealed through subtle skeletal cues like gait and orientation. We present Human-Aware Implicit Soc…
Legs Over Arms: On the Predictive Value of Lower-Body Pose for Human Trajectory Prediction from Egocentric Robot Perception
Nhat Le, Daeun Song, Xuesu Xiao
Predicting human trajectory is crucial for social robot navigation in crowded environments. While most existing approaches treat human as point mass, we present a study on multi-ag…
MAction-SocialNav: Multi-Action Socially Compliant Navigation via Reasoning-enhanced Prompt Tuning
Zishuo Wang, Xinyu Zhang, Zhuonan Liu +4
Socially compliant navigation requires robots to move safely and appropriately in human-centered environments by respecting social norms. However, social norms are often ambiguous,…
MOSU: Autonomous Long-range Robot Navigation with Multi-modal Scene Understanding
Jing Liang, Kasun Weerakoon, Daeun Song +3
We present MOSU, a novel autonomous long-range navigation system that enhances global navigation for mobile robots through multimodal perception and on-road scene understanding. MO…
Narrate2Nav: Real-Time Visual Navigation with Implicit Language Reasoning in Human-Centric Environments
Amirreza Payandeh, Anuj Pokhrel, Daeun Song +2
Large Vision-Language Models (VLMs) have demonstrated potential in enhancing mobile robot navigation in human-centric environments by understanding contextual cues, human intention…
McARL:Morphology-Control-Aware Reinforcement Learning for Generalizable Quadrupedal Locomotion
Prakhar Mishra, Amir Hossain Raj, Xuesu Xiao +1
We present Morphology-Control-Aware Reinforcement Learning (McARL), a new approach to overcome challenges of hyperparameter tuning and transfer loss, enabling generalizable locomot…
HACL: History-Aware Curriculum Learning for Fast Locomotion
Prakhar Mishra, Amir Hossain Raj, Xuesu Xiao +1
We address the problem of agile and rapid locomotion, a key characteristic of quadrupedal and bipedal robots. We present a new algorithm that maintains stability and generates high…
AutoSpatial: Visual-Language Reasoning for Social Robot Navigation through Efficient Spatial Reasoning Learning
Yangzhe Kong, Daeun Song, Jing Liang +3
We present a novel method, AutoSpatial, an efficient approach with structured spatial grounding to enhance VLMs' spatial reasoning. By combining minimal manual supervision with lar…
M2P2: A Multi-Modal Passive Perception Dataset for Off-Road Mobility in Extreme Low-Light Conditions
Aniket Datar, Anuj Pokhrel, Mohammad Nazeri +8
Long-duration, off-road, autonomous missions require robots to continuously perceive their surroundings regardless of the ambient lighting conditions. Most existing autonomy system…
GND: Global Navigation Dataset with Multi-Modal Perception and Multi-Category Traversability in Outdoor Campus Environments
Jing Liang, Dibyendu Das, Daeun Song +6
Navigating large-scale outdoor environments requires complex reasoning in terms of geometric structures, environmental semantics, and terrain characteristics, which are typically c…
VL-TGS: Trajectory Generation and Selection using Vision Language Models in Mapless Outdoor Environments
Daeun Song, Jing Liang, Xuesu Xiao +1
We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich feat…
VLM-Social-Nav: Socially Aware Robot Navigation through Scoring using Vision-Language Models
Daeun Song, Jing Liang, Amirreza Payandeh +3
We propose VLM-Social-Nav, a novel Vision-Language Model (VLM) based navigation approach to compute a robot's motion in human-centered environments. Our goal is to make real-time d…
Terrain-Attentive Learning for Efficient 6-DoF Kinodynamic Modeling on Vertically Challenging Terrain
Aniket Datar, Chenhui Pan, Mohammad Nazeri +2
Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehic…
DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation
Jing Liang, Amirreza Payandeh, Daeun Song +2
We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off…
VANP: Learning Where to See for Navigation with Self-Supervised Vision-Action Pre-Training
Mohammad Nazeri, Junzhe Wang, Amirreza Payandeh +1
Humans excel at efficiently navigating through crowds without collision by focusing on specific visual regions relevant to navigation. However, most robotic visual navigation metho…
CAHSOR: Competence-Aware High-Speed Off-Road Ground Navigation in SE(3)
Anuj Pokhrel, Aniket Datar, Mohammad Nazeri +1
While the workspace of traditional ground vehicles is usually assumed to be in a 2D plane, i.e., SE(2), such an assumption may not hold when they drive at high speeds on unstructur…
MTG: Mapless Trajectory Generator with Traversability Coverage for Outdoor Navigation
Jing Liang, Peng Gao, Xuesu Xiao +4
We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specif…