The content discusses the phenomenon of Human-Robot Pacing Mismatch (HRPM) in navigation scenarios near humans. It introduces the freezing robot problem and expands on it to include overcautious or overaggressive behaviors due to incorrect assumptions about human willingness to share space. The proposed solution is distribution space coupling, which involves predicting and planning preferences at each time step. An anecdotal case study illustrates how this approach can lead to more natural trajectories and efficient navigation. The article highlights challenges such as representing higher-order statistics of preference distributions and optimizing efficiently in distribution space.
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by Muchen Sun,P... at arxiv.org 03-05-2024
https://arxiv.org/pdf/2403.01542.pdfDeeper Inquiries