文脈と社会性を考慮したロボットによる効率的な人物目標ナビゲーション
CSIR: Contextually and Socially Informed Robots for Efficient Person Goal Navigation
言語の不確実性や情報制約下で人物を探索するPersonNav問題に対し、距離と意味情報を信頼度で重み付けする計画フレームワークを提案し、合成ベンチマークと実機で有効性を示した。
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著者: Tyler Chung, Nahl Farhan, Hao Zhang, Mingfeng Yuan, Jinjun Shan, Amy Wu, Yue Hu
分類: cs.RO
原文アブストラクト
We address the Person Goal Navigation (PersonNav) problem, enabling robots to search for people under realistic constraints on information accessibility and language uncertainty. This tackles the current solutions revolving around rigid person finding systems requiring exact knowledge of the individual for item-delivery in indoor settings. While the focus in literature is on learned methods using unavailable public or sparse data due to human privacy. We propose a planning framework that combines distance and semantic information about the recipient (habits and intent) weighted by the trust of the user-provided information. A synthetic benchmark of scenarios is also developed including actors, items, and requests to evaluate performance before real-world deployment aiming to simulate natural language human-robot interactions. Results show our informed search outperforms classical distance-based graph baselines, while semantics alone lead to ungrounded, sporadic search. Our method achieves strong gains over baselines, with an LLM-based variant performing comparably, and its explicit belief representation naturally supports future Bayesian filtering. Hardware tests demonstrate our method supports real-world embodiment able to leverage between semantic and distance information in a real setting. This work moves toward more intelligent mobile service agents capable of human-like, informed search in realistic environments to be leveraged in day-to-day use. https://anonymous.4open.science/r/personnavsite-4ED2/index.html.