arXiv:2608. 12917v1 Announce Type: new Abstract: Developing effective robot navigation methods in crowded environments is essential for real-world applications.
arXiv:2609.37476v1 Announce Type: cross Abstract: Training robust social-navigation policies requires simulators with diverse scene layouts, terrain, and human motion, but constructing such environme...
arXiv:2607. 10991v1 Announce Type: cross Abstract: As mobile robots become more integrated into everyday human environments, social robot navigation is becoming essential for ensuring human comfort, safety, and trust.
The paper introduces Planning Diffusion Policy Optimization (PDPO), an offline‑to‑online reinforcement‑learning framework that employs a diffusion policy to produce short‑horizon action chunks for robot crowd navigation. PDPO is pretrained on collision‑avoidance demonstrations and fine‑tuned online with PPO, generating five‑step action sequences applied in a receding‑horizon manner. The authors also identify a benchmark artifact where agents can leave the valid domain without explicit boundary constraints, and they mitigate this by treating boundary violations as collisions, leading to improved success rates over strong baselines.
arXiv:2608. 10056v1 Announce Type: cross Abstract: Following a target human in crowded environments involves an inherent conflict between staying close to the target and navigating safely among surrounding pedestrians and obstacles.
arXiv:2606. 12603v1 Announce Type: cross Abstract: Autonomous long-horizon sidewalk navigation is essential for micro-mobility applications such as robotic food delivery and assistive electronic wheelchairs.
arXiv:2503. 14229v4 Announce Type: replace Abstract: Vision-and-Language Navigation (VLN) has been studied mainly in either discrete or continuous spaces, with little attention to dynamic, crowded environments.
The paper proposes a reward-based policy that relies only on rewards and actions, enabling zero‑shot transfer between source and target environments with entirely different observation spaces. Experiments on Pointmass, Cartpole, 2D Car Racing, and the Stretch robot in Habitat‑Sim show that the policy can adapt to new visual styles or 3D renderings without additional samples. Additionally, the reward policy can guide the training of an observation‑based policy in the target environment.
arXiv:2609.40245v2 Announce Type: cross Abstract: Robot navigation in dynamic, human-centered environments requires socially-compliant decisions grounded in robust scene understanding. Recent Vision-...
arXiv:2606. 19370v1 Announce Type: cross Abstract: Self-play reinforcement learning has recently emerged as a way to train driving policies without any human data.
TripScore is a benchmark and evaluation framework for large language models (LLMs) in travel planning, built from real user logs and calibrated with 1,468 pairwise judgments from 203 travel experts. It uses a hierarchical feasibility gate for format and commonsense checks, and a unified point-wise reward that combines soft quality and preference fulfillment. Experiments show that reinforcement learning fine‑tuning, such as GRPO, consistently outperforms other methods when evaluated with TripScore.
arXiv:2606. 32027v1 Announce Type: cross Abstract: Reward design remains a central bottleneck for autonomous robot policy improvement, especially in long-horizon manipulation tasks where sparse success labels provide too little signal and binary preferences collapse many competing notions of quality into one ambiguous signal.
arXiv:2502. 18447v2 Announce Type: replace Abstract: Existing approaches to reward inference typically assume that humans provide demonstrations according to specific behavior models.