{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/from-cognition-to-precognition-a-future-aware","title":"From Cognition to Precognition: A Future-Aware Framework for Social Navigation","arxiv_id":"2409.13244","date":"2024-09-20","proceeding":null,"authors":["Zeying Gong","Tianshuai Hu","Ronghe Qiu","Junwei Liang"],"abstract":"To navigate safely and efficiently in crowded spaces, robots should not only perceive the current state of the environment but also anticipate future human movements. In this paper, we propose a reinforcement learning architecture, namely Falcon, to tackle socially-aware navigation by explicitly predicting human trajectories and penalizing actions that block future human paths. To facilitate realistic evaluation, we introduce a novel SocialNav benchmark containing two new datasets, Social-HM3D and Social-MP3D. This benchmark offers large-scale photo-realistic indoor scenes populated with a reasonable amount of human agents based on scene area size, incorporating natural human movements and trajectory patterns. We conduct a detailed experimental analysis with the state-of-the-art learning-based method and two classic rule-based path-planning algorithms on the new benchmark. The results demonstrate the importance of future prediction and our method achieves the best task success rate of 55% while maintaining about 90% personal space compliance. We will release our code and datasets. Videos of demonstrations can be viewed at https://zeying-gong.github.io/projects/falcon/ .","url_abs":"https://arxiv.org/abs/2409.13244v2","url_pdf":"https://arxiv.org/pdf/2409.13244v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"from-cognition-to-precognition-a-future-aware","repo_url":"https://github.com/Zeying-Gong/Falcon","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"future-prediction","task_name":"Future prediction"},{"task_slug":"navigate","task_name":"Navigate"},{"task_slug":"social-navigation","task_name":"Social Navigation"}],"methods":[],"datasets_introduced":[{"slug":"social-hm3d","name":"Social-HM3D","full_name":""},{"slug":"social-mp3d","name":"Social-MP3D","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2409.13244","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}