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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<!-- Meta tags for social media banners, these should be filled in appropriatly as they are your "business card" -->
<!-- Replace the content tag with appropriate information -->
<meta name="description" content="DESCRIPTION META TAG">
<meta property="og:title" content="Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions"/>
<meta property="og:description" content="Toward building robots that can safely and seamlessly interact with humans, we propose a general robot trajectory planning framework for synthesizing legible and proactive behaviors and demonstrate that our robot planner naturally leads to prosocial interactions."/>
<meta property="og:url" content=""/>
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<meta property="og:image" content="static/image/your_banner_image.png" />
<meta property="og:image:width" content="1200"/>
<meta property="og:image:height" content="630"/>
<meta name="twitter:title" content="Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions">
<meta name="twitter:description" content="Toward building robots that can safely and seamlessly interact with humans, we propose a general robot trajectory planning framework for synthesizing legible and proactive behaviors and demonstrate that our robot planner naturally leads to prosocial interactions.">
<!-- Path to banner image, should be in the path listed below. Optimal dimenssions are 1200X600-->
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<meta name="twitter:card" content="summary_large_image">
<!-- Keywords for your paper to be indexed by-->
<meta name="keywords" content="KEYWORDS SHOULD BE PLACED HERE">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions</title>
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<script src="static/js/index.js"></script>
</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions</h1>
<div class="is-size-5 publication-authors">
<!-- Paper authors -->
<span class="author-block">
<a href="https://depts.washington.edu/ctrl/people/jasper_geldenbott/" target="_blank">Jasper Geldenbott</a>,</span>
<span class="author-block">
<a href="http://faculty.washington.edu/kymleung/" target="_blank">Karen Leung</a></span>
<!-- <!-- <span class="author-block"> -->
<!-- <a href="THIRD AUTHOR PERSONAL LINK" target="_blank">Third Author</a> -->
<!-- </span> -->
</div>
<div class="is-size-5 publication-authors">
<span class="author-block">University of Washington, William E. Boeing Department of Aeronautics and Astronautics<br>IEEE International Conference on Robotics and Automation (ICRA) 2024</span>
<!-- <span class="eql-cntrb"><small><br><sup>*</sup>Indicates Equal Contribution</small></span> -->
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- Arxiv PDF link -->
<span class="link-block">
<a href="https://arxiv.org/pdf/2404.03734.pdf" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<!-- Supplementary PDF link -->
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<!-- class="external-link button is-normal is-rounded is-dark"> -->
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<!-- <i class="fas fa-file-pdf"></i> -->
<!-- </span> -->
<!-- <span>Supplementary</span> -->
<!-- </a> -->
<!-- </span> -->
<!-- Github link -->
<span class="link-block">
<a href="https://github.com/UW-CTRL/PHRI.jl" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- ArXiv abstract Link -->
<span class="link-block">
<a href="https://arxiv.org/abs/2404.03734" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<!-- Teaser video-->
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<video poster="" id="tree" autoplay controls muted loop height="100%">
Your video here
<source src="static/videos/hitl.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Real-time human-in-the-loop simulation of the our method in ROS Gazebo on the Clearpath Husky A200.
</h2>
</div>
</div>
</section>
<!-- End teaser video -->
<!-- Paper abstract -->
<section class="section hero is-light">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
Humans have a remarkable ability to fluently engage in joint collision avoidance in crowded navigation tasks despite the complexities and uncertainties inherent in human behavior. Underlying these interactions is a mutual understanding that (i) individuals are prosocial, that is, there is equitable responsibility in avoiding collisions, and (ii) individuals should behave legibly, that is, move in a way that clearly conveys their intent to reduce ambiguity in how they intend to avoid others. Toward building robots that can safely and seamlessly interact with humans, we propose a general robot trajectory planning framework for synthesizing legible and proactive behaviors and demonstrate that our robot planner naturally leads to prosocial interactions. Specifically, we introduce the notion of a markup factor to incentivize legible and proactive behaviors and an inconvenience budget constraint to ensure equitable collision avoidance responsibility. We evaluate our approach against well-established multi-agent planning algorithms and show that using our approach produces safe, fluent, and prosocial interactions. We demonstrate the real-time feasibility of our approach with human-in-the-loop simulations.
</p>
</div>
</div>
</div>
</div>
</section>
<!-- End paper abstract -->
<!-- Image carousel -->
<section class="hero is-small">
<div class="hero-body">
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item">
<!-- Your image here -->
<img src="static/images/carousel1.png" alt="MY ALT TEXT"/>
<h2 class="subtitle has-text-centered">
Legible and proactive behaviors lead to safer, more fluent human-robot interactions
</h2>
</div>
<div class="item">
<!-- Your image here -->
<img src="static/images/hitl.jpg" alt="MY ALT TEXT"/>
<h2 class="subtitle has-text-centered">
Setup used for human-in-the-loop (HITL) simulation testing.
</h2>
</div>
<div class="item">
<!-- Your image here -->
<img src="static/images/qualitative (1).png" alt="MY ALT TEXT"/>
<h2 class="subtitle has-text-centered">
Joint path planning compared between our method (PHRI) and other baseline methods.
</h2>
</div>
<div class="item">
<!-- Your image here -->
<img src="static/images/wall.png" alt="MY ALT TEXT"/>
<h2 class="subtitle has-text-centered">
Our method works with linear obstacles such as walls.
</h2>
</div>
</div>
</div>
</div>
</section>
<!-- End image carousel -->
<!-- Youtube video -->
<!-- <section class="hero is-small is-light"> -->
<!-- <div class="hero-body"> -->
<!-- <div class="container"> -->
<!-- Paper video. -->
<!-- <h2 class="title is-3">Video Presentation</h2> -->
<!-- <div class="columns is-centered has-text-centered"> -->
<!-- <div class="column is-four-fifths"> -->
<!-- <div class="publication-video"> -->
<!-- Youtube embed code here -->
<!-- <iframe src="https://www.youtube.com/embed/JkaxUblCGz0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe> -->
<!-- </div> -->
<!-- </div> -->
<!-- </div> -->
<!-- </div> -->
<!-- </div> -->
<!-- </section> -->
<!-- End youtube video -->
<!-- Paper poster -->
<section class="hero is-small is-light">
<div class="hero-body">
<div class="container">
<h2 class="title">Poster</h2>
<iframe src="static/pdfs/Geldenbott.Leung.SURP.2023.pdf" width="100%" height="550">
</iframe>
</div>
</div>
</section>
<!--End paper poster -->
<!--BibTex citation -->
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@inproceedings{GeldenbottLeung2024,
author = {Geldenbott, J. and Leung, K.},
booktitle = {{Proc.\ IEEE Conf.\ on Robotics and Automation}},
title = {Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions},
year = {2024}
}</code></pre>
</div>
</section>
<!--End BibTex citation -->
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