5 papers · 1 filter
Crowd-FM: Learned Optimal Selection of Conditional Flow Matching-generated Trajectories for Crowd Navigation
Antareep Singha, Laksh Nanwani, Mathai Mathew P. +4
Safe and computationally efficient local planning for mobile robots in dense, unstructured human crowds remains a fundamental challenge. Moreover, ensuring that robot trajectories…
MonoMPC: Monocular Vision Based Navigation with Learned Collision Model and Risk-Aware Model Predictive Control
Basant Sharma, Prajyot Jadhav, Pranjal Paul +2
Navigating unknown environments with a single RGB camera is challenging, as the lack of depth information prevents reliable collision-checking. While some methods use estimated dep…
Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy
Basant Sharma, Arun Kumar Singh
This paper addresses sampling-based trajectory optimization for risk-aware navigation under stochastic dynamics. Typically such approaches operate by computing perturbe…
CrowdSurfer: Sampling Optimization Augmented with Vector-Quantized Variational AutoEncoder for Dense Crowd Navigation
Naman Kumar, Antareep Singha, Laksh Nanwani +6
Navigation amongst densely packed crowds remains a challenge for mobile robots. The complexity increases further if the environment layout changes, making the prior computed global…
Learning Sampling Distribution and Safety Filter for Autonomous Driving with VQ-VAE and Differentiable Optimization
Simon Idoko, Basant Sharma, Arun Kumar Singh
Sampling trajectories from a distribution followed by ranking them based on a specified cost function is a common approach in autonomous driving. Typically, the sampling distributi…