10 papers
Learning Robot Visual Navigation in Crowds via Intention-Aware Scene Representations
Han Bao, Bingyi Xia, Hanjing Ye +5
Robot crowd navigation requires the ability to infer human intentions while accounting for the structural constraints of the environment. Currently, deep reinforcement learning (DR…
Can Single-View Mesh Reconstruction Generalize to Robot Camera Rotation?
Yu Zhan, Guangcheng Chen, Hanjing Ye +4
Single-view mesh reconstruction predicts object meshes and spatial layouts from a single observation, making it attractive for fast robot spatial reasoning and real-to-sim digital…
MfNeuPAN: Proactive End-to-End Navigation in Dynamic Environments via Direct Multi-Frame Point Constraints
Yiwen Ying, Hanjing Ye, Senzi Luo +4
Obstacle avoidance in complex and dynamic environments is a critical challenge for real-time robot navigation. Model-based and learning-based methods often fail in highly dynamic s…
Adap-RPF: Adaptive Trajectory Sampling for Robot Person Following in Dynamic Crowded Environments
Weixi Situ, Hanjing Ye, Jianwei Peng +2
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios.…
Follow-Bench: A Unified Motion Planning Benchmark for Socially-Aware Robot Person Following
Hanjing Ye, Weixi Situ, Jianwei Peng +4
Robot person following (RPF) -- mobile robots that follow and assist a specific person -- has emerging applications in personal assistance, security patrols, eldercare, and logisti…
TPT-Bench: A Large-Scale, Long-Term and Robot-Egocentric Dataset for Benchmarking Target Person Tracking
Hanjing Ye, Yu Zhan, Weixi Situ +6
Tracking a target person from robot-egocentric views is crucial for developing autonomous robots that provide continuous personalized assistance or collaboration in Human-Robot Int…
Monocular Person Localization under Camera Ego-motion
Yu Zhan, Hanjing Ye, Hong Zhang
Localizing a person from a moving monocular camera is critical for Human-Robot Interaction (HRI). To estimate the 3D human position from a 2D image, existing methods either depend…
RPF-Search: Field-based Search for Robot Person Following in Unknown Dynamic Environments
Hanjing Ye, Kuanqi Cai, Yu Zhan +3
Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Cur…
Human Orientation Estimation under Partial Observation
Jieting Zhao, Hanjing Ye, Yu Zhan +2
Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under…
Person Re-Identification for Robot Person Following with Online Continual Learning
Hanjing Ye, Jieting Zhao, Yu Zhan +3
Robot person following (RPF) is a crucial capability in human-robot interaction (HRI) applications, allowing a robot to persistently follow a designated person. In practical RPF sc…