A VLM-based perceptual module plus MPPI controller lets robots accompany dynamically changing human groups, yielding 15% higher success rate and 25% lower collisions than baselines in five scenarios plus positive user-study ratings for naturalness.
A dual closed-loop control strategy for human-following robots respecting social space,
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Adaptive Companionship for Group-Following Robots: Handling Dynamically Changing Group Formations
A VLM-based perceptual module plus MPPI controller lets robots accompany dynamically changing human groups, yielding 15% higher success rate and 25% lower collisions than baselines in five scenarios plus positive user-study ratings for naturalness.