6 papers
SOPD-SocialNav: Selective On-Policy Distillation for Vision-Language Social Navigation
Xinyu Zhang, Zishuo Wang, Ling Xiao
Vision-language models have shown strong potential for social robot navigation by leveraging rich semantic understanding of complex environments and human behaviors. However, large…
CANINE: Coaching Visually Impaired Users for Interactive Navigation with a Robot Guide Dog
Cunjun Yu, Zishuo Wang, Anxing Xiao +2
Robot guide dogs offer navigation assistance that greatly expands the independent mobility of the visually impaired, but their effective use requires subtle human-robot coordinatio…
SignScene: Visual Sign Grounding for Mapless Navigation
Nicky Zimmerman, Joel Loo, Benjamin Koh +2
Navigational signs enable humans to navigate unfamiliar environments without maps. This work studies how robots can similarly exploit signs for mapless navigation in the open world…
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,…
MUSON: A Reasoning-oriented Multimodal Dataset for Socially Compliant Navigation in Urban Environments
Zhuonan Liu, Xinyu Zhang, Zishuo Wang +8
Socially compliant navigation requires structured reasoning about dynamic pedestrians and physical constraints to ensure safe and interpretable decisions. Vision-language models (V…
InFeR: Informed Failure Resilience in Learned Visual Navigation Control
Zishuo Wang, Joel Loo, David Hsu
While imitation learning (IL) has enabled successful visual navigation in many common environments, IL policies are prone to unpredictable failures under out-of-distribution (OOD)…