8 papers
A Practical Causal Framework for Autonomous Mobile Robots: From Simulation to Real-World Human Environments
Luca Castri, Gloria Beraldo, Nicola Bellotto
Causal inference has emerged as a powerful paradigm enabling robots to make safe, efficient decisions by reasoning about the ``why'' behind events. However, its real-world applicat…
Estimating the Causal Impact of Social Navigation Signals in Corridor Scenarios
Francesco Baldo, Luca Castri, Gloria Beraldo +1
Deploying robots in human-shared environments requires deciding not only how to navigate, but also when dedicated social signals are worth emitting. Classic observation-based infer…
Causality-enhanced Decision-Making for Autonomous Mobile Robots in Dynamic Environments
Luca Castri, Gloria Beraldo, Nicola Bellotto
The growing integration of robots in shared environments-such as warehouses, shopping centres, and hospitals-demands a deep understanding of the underlying dynamics and human behav…
CAnDOIT: Causal Discovery with Observational and Interventional Data from Time-Series
Luca Castri, Sariah Mghames, Marc Hanheide +1
The study of cause-and-effect is of the utmost importance in many branches of science, but also for many practical applications of intelligent systems. In particular, identifying c…
neuROSym: Deployment and Evaluation of a ROS-based Neuro-Symbolic Model for Human Motion Prediction
Sariah Mghames, Luca Castri, Marc Hanheide +1
Autonomous mobile robots can rely on several human motion detection and prediction systems for safe and efficient navigation in human environments, but the underline model architec…
Experimental Evaluation of ROS-Causal in Real-World Human-Robot Spatial Interaction Scenarios
Luca Castri, Gloria Beraldo, Sariah Mghames +2
Deploying robots in human-shared environments requires a deep understanding of how nearby agents and objects interact. Employing causal inference to model cause-and-effect relation…
ROS-Causal: A ROS-based Causal Analysis Framework for Human-Robot Interaction Applications
Luca Castri, Gloria Beraldo, Sariah Mghames +2
Deploying robots in human-shared spaces requires understanding interactions among nearby agents and objects. Modelling cause-and-effect relations through causal inference aids in p…
Efficient Causal Discovery for Robotics Applications
Luca Castri, Sariah Mghames, Nicola Bellotto
Using robots for automating tasks in environments shared with humans, such as warehouses, shopping centres, or hospitals, requires these robots to comprehend the fundamental physic…