7 research outputs found
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
A major challenge to deploying robots widely is navigation in human-populated
environments, commonly referred to as social robot navigation. While the field
of social navigation has advanced tremendously in recent years, the fair
evaluation of algorithms that tackle social navigation remains hard because it
involves not just robotic agents moving in static environments but also dynamic
human agents and their perceptions of the appropriateness of robot behavior. In
contrast, clear, repeatable, and accessible benchmarks have accelerated
progress in fields like computer vision, natural language processing and
traditional robot navigation by enabling researchers to fairly compare
algorithms, revealing limitations of existing solutions and illuminating
promising new directions. We believe the same approach can benefit social
navigation. In this paper, we pave the road towards common, widely accessible,
and repeatable benchmarking criteria to evaluate social robot navigation. Our
contributions include (a) a definition of a socially navigating robot as one
that respects the principles of safety, comfort, legibility, politeness, social
competency, agent understanding, proactivity, and responsiveness to context,
(b) guidelines for the use of metrics, development of scenarios, benchmarks,
datasets, and simulators to evaluate social navigation, and (c) a design of a
social navigation metrics framework to make it easier to compare results from
different simulators, robots and datasets.Comment: 43 pages, 11 figures, 6 table
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Characterizing Drivers' Peripheral Vision via the Functional Field of View for Intelligent Driving Assistance
Previous work has modeled the combination of foveal and peripheral gaze as the Functional Field of View (FFoV), showing a relationship between FFoV degradation and poor driving outcomes making it an object of interest for intelligent driving assistance algorithms.
We study the shape and dynamics of the FFoV using a peripheral detection task in a virtual reality (VR) driving simulator with licensed drivers in urban driving environments. We find that missed targets occurred vertically higher in the driver FoV than hits. This supports a vertically asymmetric (upward-inhibited) shape of the FFoV. Additionally, we show that this asymmetry disappears when the same PDT is conducted in a non-driving setting.
Finally, we examined the dynamics of the FFoV, finding that drivers' peripheral target detection ability is inhibited (general interference rather than tunnel vision) right after saccades but recovers once drivers fixate for some time
Towards Rich, Portable, and Large-Scale Pedestrian Data Collection
Recently, pedestrian behavior research has shifted towards machine learning
based methods and converged on the topic of modeling pedestrian interactions.
For this, a large-scale dataset that contains rich information is needed. We
propose a data collection system that is portable, which facilitates accessible
large-scale data collection in diverse environments. We also couple the system
with a semi-autonomous labeling pipeline for fast trajectory label production.
We demonstrate the effectiveness of our system by further introducing a dataset
we have collected -- the TBD pedestrian dataset. Compared with existing
pedestrian datasets, our dataset contains three components: human verified
labels grounded in the metric space, a combination of top-down and perspective
views, and naturalistic human behavior in the presence of a socially
appropriate "robot". In addition, the TBD pedestrian dataset is larger in
quantity compared to similar existing datasets and contains unique pedestrian
behavior.Comment: This work has been submitted to the IEEE for possible publication.
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Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms that tackle social navigation remains hard because it involves not just robotic agents moving in static environments but also dynamic human agents and their perceptions of the appropriateness of robot behavior. In contrast, clear, repeatable, and accessible benchmarks have accelerated progress in fields like computer vision, natural language processing and traditional robot navigation by enabling researchers to fairly compare algorithms, revealing limitations of existing solutions and illuminating promising new directions. We believe the same approach can benefit social navigation. In this paper, we pave the road towards common, widely accessible, and repeatable benchmarking criteria to evaluate social robot navigation. Our contributions include (a) a definition of a socially navigating robot as one that respects the principles of safety, comfort, legibility, politeness, social competency, agent understanding, proactivity, and responsiveness to context, (b) guidelines for the use of metrics, development of scenarios, benchmarks, datasets, and simulators to evaluate social navigation, and (c) a design of a social navigation metrics framework to make it easier to compare results from different simulators, robots and datasets
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms that tackle social navigation remains hard because it involves not just robotic agents moving in static environments but also dynamic human agents and their perceptions of the appropriateness of robot behavior. In contrast, clear, repeatable, and accessible benchmarks have accelerated progress in fields like computer vision, natural language processing and traditional robot navigation by enabling researchers to fairly compare algorithms, revealing limitations of existing solutions and illuminating promising new directions. We believe the same approach can benefit social navigation. In this paper, we pave the road towards common, widely accessible, and repeatable benchmarking criteria to evaluate social robot navigation. Our contributions include (a) a definition of a socially navigating robot as one that respects the principles of safety, comfort, legibility, politeness, social competency, agent understanding, proactivity, and responsiveness to context, (b) guidelines for the use of metrics, development of scenarios, benchmarks, datasets, and simulators to evaluate social navigation, and (c) a design of a social navigation metrics framework to make it easier to compare results from different simulators, robots and datasets