distnav
(RSS 2021) Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation
Science Score: 57.0%
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○Scientific vocabulary similarity
Low similarity (13.8%) to scientific vocabulary
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(RSS 2021) Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation
Basic Info
Statistics
- Stars: 23
- Watchers: 5
- Forks: 1
- Open Issues: 0
- Releases: 0
Topics
Metadata Files
README.md
Introduction
This repository contains related code for the RSS 2021 paper "Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation" by Muchen Sun, Francesca Baldini, Pete Trautman and Todd Murphey.
If you use this toolbox, please cite it as below.
@INPROCEEDINGS{SunM-RSS-21,
AUTHOR = {Muchen Sun AND Francesca Baldini AND Peter Trautman AND Todd Murphey},
TITLE = {{Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation}},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2021},
ADDRESS = {Virtual},
MONTH = {July},
DOI = {10.15607/RSS.2021.XVII.053}
}
Interactive Web Demo
You can play around with DistNav for a one-dimensional demonstration at below (click the image to visit the website).
DistNav Toolbox
You can install the crowd navigaton toolbox via pip install distnav. The second tutorial below contains examples for how to use this toolbox.
Tutorials
We provide a Jupyter notebook tutorials for our algorithm. You can find them under the "notebooks" directory.
- Tutorial 1: distribution space coupling in one-dimensional space: In the first tutorial, we will build from scratch on a one-dimensional two-agents toy example to show how DistNav optimization works. We will show both the analytical solution with numerical integration and approximated solution with sampling and Monte-Carlo integration, and how they can match with
each other. You can find a copy of the notebook in Google Colaboratory here.
- Tutorial 2: distribution space coupling in high-dimensional space using distnav toolbox: In the second tutorial, we will do distribution space coupling in high-dimensional spaces, to predict the preference distributions over long trajectories for four pedestrians (or robots) walk across each other. We show how to specify initial preference distributions using Gaussian processes regression and how to use our distnav toolbox to find optimal
preferences via samples. You can find a copy of the notebook in Google Colaboratory here.
Questions?
Feel free to contact Muchen Sun via muchen@u.northwestern.edu for any question :)
Owner
- Name: MurpheyLab
- Login: MurpheyLab
- Kind: organization
- Email: t-murphey@northwestern.edu
- Location: Evanston, IL
- Website: https://murpheylab.github.io/
- Repositories: 30
- Profile: https://github.com/MurpheyLab
The research group headed by Professor Todd Murphey - a part of the Center for Robotics and Biosystems at Northwestern University.
Citation (CITATION.cff)
cff-version: 1.2.0 message: "If you use this software, please cite it as below." authors: - affiliation: "Northwestern University" family-names: "Sun" given-names: "Muchen" orcid: "https://orcid.org/0000-0002-3704-6315" - affiliation: "California Institute of Technology" family-names: "Baldini" given-names: "Francesca" - affiliation: "Honda Research Institute (US)" family-names: "Trautman" given-names: "Peter" - affiliation: "Northwestern University" family-names: "Murphey" given-names: "Todd" title: "Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation" version: 0.1 date-released: 2021-07-12 doi: 10.15607/RSS.2021.XVII.053 url: "https://github.com/MurpheyLab/DistNav"
GitHub Events
Total
- Watch event: 3
- Push event: 1
Last Year
- Watch event: 3
- Push event: 1
Committers
Last synced: about 2 years ago
Top Committers
| Name | Commits | |
|---|---|---|
| MuchenSun | s****5@g****m | 13 |
| Muchen Sun | s****5@f****m | 1 |
Committer Domains (Top 20 + Academic)
Issues and Pull Requests
Last synced: 6 months ago
All Time
- Total issues: 2
- Total pull requests: 6
- Average time to close issues: 3 months
- Average time to close pull requests: less than a minute
- Total issue authors: 1
- Total pull request authors: 1
- Average comments per issue: 2.0
- Average comments per pull request: 0.0
- Merged pull requests: 6
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 0
- Pull requests: 0
- Average time to close issues: N/A
- Average time to close pull requests: N/A
- Issue authors: 0
- Pull request authors: 0
- Average comments per issue: 0
- Average comments per pull request: 0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- Mirorrn (2)
Pull Request Authors
- MuchenSun (6)
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Packages
- Total packages: 1
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Total downloads:
- pypi 8 last-month
- Total dependent packages: 0
- Total dependent repositories: 1
- Total versions: 1
- Total maintainers: 1
pypi.org: distnav
DistNav crowd navigation toolbox
- Homepage: https://github.com/MurpheyLab/DistNav
- Documentation: https://distnav.readthedocs.io/
- License: gpl-3.0
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Latest release: 0.0.1
published over 4 years ago
Rankings
Maintainers (1)
Dependencies
- numba *
- numpy *