9 papers
Failing Gracefully: Mitigating Impact of Inevitable Robot Failures
Duc M. Nguyen, Saad A. Ghani, Andrew Marshall +3
Service robots operate in household environments shared with humans, pets, and everyday objects, where they are highly susceptible to failures such as software crashes, hardware de…
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…
HUMEMBR: Learning Human Routines for Predictive Embodied Navigation
Samira Huber, Klaas Pelzer, Duc M. Nguyen +2
Understanding and navigating human-centered environments over extended periods of time while considering human behavior and routines remains a fundamental challenge in robotics. In…
Vortex: Multi-Modal Fusion System for Intelligent Video Retrieval
Duc-Tho Nguyen, Hieu-Hoc Tran-Minh, Khanh-Hoa Lam +4
This paper presents Vortex, the multimodal video retrieval system developed by our team, FocusOnFun, for the Ho Chi Minh City AI Challenge 2025, designed to advance intelligent mul…
DRIVESPATIAL: A Benchmark for Spatiotemporal Intelligence in VLMs for Autonomous Driving
Hao Vo, Khoa Vo, Phu Loc Nguyen +10
Spatiotemporal intelligence in autonomous driving (AD) requires an agent to integrate multi-view observations into a coherent scene representation, maintain object continuity acros…
ARGUSTRACK: A Multi-View Annotation System for Multi-Object Tracking
Hao Vo, Duc Nguyen, Ngan Le
Multi-Camera Multi-Target (MCMT) tracking has emerged as a critical capability for applications ranging from autonomous driving to animal behavior monitoring. While recent advances…
Anticipatory Task and Motion Planning
Roshan Dhakal, Duc M. Nguyen, Tom Silver +2
We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persis…
Human-Robot Co-Transportation using Disturbance-Aware MPC with Pose Optimization
Al Jaber Mahmud, Amir Hossain Raj, Duc M. Nguyen +3
This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Mode…
Toward Human-Like Social Robot Navigation: A Large-Scale, Multi-Modal, Social Human Navigation Dataset
Duc M. Nguyen, Mohammad Nazeri, Amirreza Payandeh +2
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, huma…