7 papers
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…
Bi3: A Biplatform, Bicultural, Biperson Dataset for Social Robot Navigation
Andrew Stratton, Phani Teja Singamaneni, Pranav Goyal +2
We contribute Bi3, a dataset of social robot navigation among groups of people in a constrained lab space. Compared to prior data collection efforts for social robot navigation, ou…
ReloPush-BOSS: Optimization-guided Nonmonotone Rearrangement Planning for a Car-like Robot Pusher
Jeeho Ahn, Christoforos Mavrogiannis
We focus on multi-object rearrangement planning in densely cluttered environments using a car-like robot pusher. The combination of kinematic, geometric and physics constraints und…
How Human Motion Prediction Quality Shapes Social Robot Navigation Performance in Constrained Spaces
Andrew Stratton, Phani Teja Singamaneni, Pranav Goyal +2
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spat…
ReloPush: Multi-object Rearrangement in Confined Spaces with a Nonholonomic Mobile Robot Pusher
Jeeho Ahn, Christoforos Mavrogiannis
We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make th…
Implicit Communication in Human-Robot Collaborative Transport
Elvin Yang, Christoforos Mavrogiannis
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem i…