SemNav-HRO: A target-driven semantic navigation strategy with human-robot-object ternary fusion

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Bolei Chen, Siyi Lu, Ping Zhong, Yongzheng Cui, Yixiong Liang, Jianxin Wang

Published: 01 Jan 2024, Last Modified: 26 Jul 2025Eng. Appl. Artif. Intell. 2024EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•This is the first work to study target-driven semantic navigation in crowded scenes.•A novel spatio-temporal aware pedestrian trajectory predictor is designed.•A novel multi-granularity semantic relationship modeling technique is proposed.•A dual-channel value estimation network is proposed for HRO ternary feature fusion.•A novel and semantic-rich simulator with complex layouts is constructed.