3 papers
cs.RO2025
Ratatouille: Imitation Learning Ingredients for Real-world Social Robot Navigation
James R. Han, Mithun Vanniasinghe, Hshmat Sahak +2
Scaling Reinforcement Learning to in-the-wild social robot navigation is both data-intensive and unsafe, since policies must learn through direct interaction and inevitably encount…
cs.RO2025
SICNav: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization
Sepehr Samavi, James R. Han, Florian Shkurti +1
Robots need to predict and react to human motions to navigate through a crowd without collisions. Many existing methods decouple prediction from planning, which does not account fo…
cs.RO2025
DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigation
James R. Han, Hugues Thomas, Jian Zhang +2
How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simula…