5 papers
SOPD-SocialNav: Selective On-Policy Distillation for Vision-Language Social Navigation
Xinyu Zhang, Zishuo Wang, Ling Xiao
Vision-language models have shown strong potential for social robot navigation by leveraging rich semantic understanding of complex environments and human behaviors. However, large…
MUSON: A Reasoning-oriented Multimodal Dataset for Socially Compliant Navigation in Urban Environments
Zhuonan Liu, Xinyu Zhang, Zishuo Wang +8
Socially compliant navigation requires structured reasoning about dynamic pedestrians and physical constraints to ensure safe and interpretable decisions. Vision-language models (V…
CANINE: Coaching Visually Impaired Users for Interactive Navigation with a Robot Guide Dog
Cunjun Yu, Zishuo Wang, Anxing Xiao +2
Robot guide dogs offer navigation assistance that greatly expands the independent mobility of the visually impaired, but their effective use requires subtle human-robot coordinatio…
TwinLoop: Simulation-in-the-Loop Digital Twins for Online Multi-Agent Reinforcement Learning
Nan Zhang, Zishuo Wang, Shuyu Huang +4
Decentralised online learning enables runtime adaptation in cyber-physical multi-agent systems, but when operating conditions change, learned policies often require substantial tri…
MAction-SocialNav: Multi-Action Socially Compliant Navigation via Reasoning-enhanced Prompt Tuning
Zishuo Wang, Xinyu Zhang, Zhuonan Liu +4
Socially compliant navigation requires robots to move safely and appropriately in human-centered environments by respecting social norms. However, social norms are often ambiguous,…