arXiv subjects

Duc M. Nguyen

Publications and source records attributed to Duc M. Nguyen.

10 recordsLinked to original sources

arXiv2026

Failing Gracefully: Mitigating Impact of Inevitable Robot Failures

Service robots operate in household environments shared with humans, pets, and everyday objects, where they are highly susceptible to failures such as software crashes, hardware degradation, or unpredictable interactions. While roboticists strive to minimize failures, some remain inevitable, making it critical to mitigate their potential consequences for safe and reliable deployment. This paper introduces a novel safety formulation that evaluates both the probability of impactful interactions between robots and surrounding entities during failures, and the severity of their outcomes. By quantifying the impact of failures on different entities, our approach enables robots to make informed planning decisions that balance safety with task efficiency. To support systematic evaluation, we also present FailBench, a MuJoCo-based simulation framework for studying robot-environment interactions under diverse failure modes, including sensing issues and actuator malfunctions. Together, our safety formulation and FailBench provide a foundation for developing safer and more robust motion plans and learned policies in real-world household environments.

cs.RO↗

arXiv2026

ACME: A Multi-Cultural, Multi-Embodiment Social-Navigation Dataset

Understanding how robots and humans move in shared spaces is essential for designing effective social robot navigation policies and predicting human behavior. However, existing datasets often lack the diversity needed to capture differences in culture, geography, and human-robot interaction-factors that strongly shape appropriate social behavior. To address this gap, we introduce ACME: A Cross-cultural, Multi-Embodiment dataset for social navigation. A large-scale data collection effort across 8 sites in 5 countries, using 7 robot embodiments, ACME is a large and diverse multi-modal dataset aimed at advancing social navigation research, providing 29.35 hours of onboard robot data and 43.5 hours of overhead pedestrian tracking data. Unlike prior datasets, it focuses on capturing goal-driven social navigation behavior in complex social scenarios with explicit robot-crowd interaction through robot speech. To facilitate learning navigation policies and predicting pedestrian trajectories, ACME provides 3D and 2D scene features, odometry, interaction information, and human-annotated pedestrian trajectory labels. We make ACME easy to use by providing both human-readable data for each sensor modality as well as raw binary data. Our qualitative and quantitative analyses show that our dataset captures more challenging scenarios and a broader distribution of pedestrian behavior than previous datasets.

cs.RO↗

arXiv2026

HUMEMBR: Learning Human Routines for Predictive Embodied Navigation

Understanding and navigating human-centered environments over extended periods of time while considering human behavior and routines remains a fundamental challenge in robotics. In real-world settings, robots may be asked to locate a specific individual, predict where that person is likely to be, or estimate when they typically leave a building. Addressing such queries requires reasoning over extensive histories of observations and capturing long-term behavioral patterns. To this end, we introduce Human-Centered Memory for Embodied Robots (HUMEMBR), a system designed for embodied question answering and routine-conditioned navigation. HUMEMBR integrates a continuous memory construction process with a parallel retrieval and querying mechanism, enabling the system to accumulate structured representations of human routines while supporting interactive, user-driven queries. Our experimental results indicate that HUMEMBR improves long-horizon reasoning about human behavior relative to full-context LLM baselines, while using substantially fewer tokens. Furthermore, we deploy HUMEMBR on a physical robot in two distinct environments, showing its ability to handle diverse queries and navigation tasks under real-world conditions.

cs.RO↗

arXiv2025

VEHME: A Vision-Language Model For Evaluating Handwritten Mathematics Expressions

Automatically assessing handwritten mathematical solutions is an important problem in educational technology with practical applications, but it remains a significant challenge due to the diverse formats, unstructured layouts, and symbolic complexity of student work. To address this challenge, we introduce VEHME-a Vision-Language Model for Evaluating Handwritten Mathematics Expressions-designed to assess open-form handwritten math responses with high accuracy and interpretable reasoning traces. VEHME integrates a two-phase training pipeline: (i) supervised fine-tuning using structured reasoning data, and (ii) reinforcement learning that aligns model outputs with multi-dimensional grading objectives, including correctness, reasoning depth, and error localization. To enhance spatial understanding, we propose an Expression-Aware Visual Prompting Module, trained on our synthesized multi-line math expressions dataset to robustly guide attention in visually heterogeneous inputs. Evaluated on AIHub and FERMAT datasets, VEHME achieves state-of-the-art performance among open-source models and approaches the accuracy of proprietary systems, demonstrating its potential as a scalable and accessible tool for automated math assessment. Our training and experiment code is publicly available at our GitHub repository.

cs.CL↗

arXiv2025

Human-Robot Co-Transportation using Disturbance-Aware MPC with Pose Optimization

This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization mechanism to more efficiently mitigate disturbances (such as human behavioral uncertainties or robot actuation noise) during the task. The core of our methodology involves a two-step iterative design: At each planning horizon, we determine the optimal pose of the robotic arm (joint angle configuration) from a candidate set, aiming to achieve the lowest estimated control cost. This selection is based on solving a disturbance-aware Discrete Algebraic Ricatti Equation (DARE), which also determines the optimal inputs for the robot's whole body control (including both the mobile base and the robotic arm). To validate the effectiveness of the proposed approach, we provide theoretical derivation for the disturbance-aware DARE and perform simulated experiments and hardware demos using a Fetch robot under varying conditions, including different trajectories and different levels of disturbances. The results reveal that our proposed approach outperforms baseline algorithms.

cs.RO↗

arXiv2024

DG Comics: Semi-Automatically Authoring Graph Comics for Dynamic Graphs

Comics are an effective method for sequential data-driven storytelling, especially for dynamic graphs -- graphs whose vertices and edges change over time. However, manually creating such comics is currently time-consuming, complex, and error-prone. In this paper, we propose DG Comics, a novel comic authoring tool for dynamic graphs that allows users to semi-automatically build and annotate comics. The tool uses a newly developed hierarchical clustering algorithm to segment consecutive snapshots of dynamic graphs while preserving their chronological order. It also presents rich information on both individuals and communities extracted from dynamic graphs in multiple views, where users can explore dynamic graphs and choose what to tell in comics. For evaluation, we provide an example and report the results of a user study and an expert review.

cs.HC↗

arXiv2024

Anticipatory Task and Motion Planning

We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persists between each. Lacking advance knowledge of future tasks, existing (myopic) planning strategies unwittingly introduce side effects that impede completion of subsequent tasks: e.g., by blocking future access or manipulation. We present anticipatory task and motion planning, in which estimates of expected future cost from a learned model inform selection of plans generated by a model-based tamp planner so as to avoid such side effects, choosing configurations of the environment that both complete the task and minimize overall cost. Simulated multi-task deployments in navigation-among-movable-obstacles and cabinet-loading domains yield improvements of 32.7% and 16.7% average per-task cost respectively. When given time in advance to prepare the environment, our learning-augmented planning approach yields improvements of 83.1% and 22.3%. Both showcase the value of our approach. Finally, we also demonstrate anticipatory tamp on a real-world Fetch mobile manipulator.

cs.RO↗

arXiv2023

A Schrödinger Equation for Evolutionary Dynamics

We establish an analogy between the Fokker-Planck equation describing evolutionary landscape dynamics and the Schrödinger equation which characterizes quantum mechanical particles, showing how a population with multiple genetic traits evolves analogously to a wavefunction under a multi-dimensional energy potential in imaginary time. Furthermore, we discover within this analogy that the stationary population distribution on the landscape corresponds exactly to the ground-state wavefunction. This mathematical equivalence grants entry to a wide range of analytical tools developed by the quantum mechanics community, such as the Rayleigh-Ritz variational method and the Rayleigh-Schrödinger perturbation theory, allowing us to not only make reasonable quantitative assessments but also explore fundamental biological inquiries. We demonstrate the effectiveness of these tools by estimating the population success on landscapes where precise answers are elusive, and unveiling the ecological consequences of stress-induced mutagenesis -- a prevalent evolutionary mechanism in pathogenic and neoplastic systems. We show that, even in a unchanging environment, a sharp mutational burst resulting from stress can always be advantageous, while a gradual increase only enhances population size when the number of relevant evolving traits is limited. Our interdisciplinary approach offers novel insights, opening up new avenues for deeper understanding and predictive capability regarding the complex dynamics of evolving populations.

q-bio.PE↗

arXiv2023

Toward Human-Like Social Robot Navigation: A Large-Scale, Multi-Modal, Social Human Navigation Dataset

Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten social norms on a daily basis; conversely, robots become clumsy in those daily social scenarios, getting stuck in dense crowds, surprising nearby pedestrians, or even causing collisions. While recent research on robot learning has shown promises in data-driven social robot navigation, good-quality training data is still difficult to acquire through either trial and error or expert demonstrations. In this work, we propose to utilize the body of rich, widely available, social human navigation data in many natural human-inhabited public spaces for robots to learn similar, human-like, socially compliant navigation behaviors. To be specific, we design an open-source egocentric data collection sensor suite wearable by walking humans to provide multi-modal robot perception data; we collect a large-scale (~100 km, 20 hours, 300 trials, 13 humans) dataset in a variety of public spaces which contain numerous natural social navigation interactions; we analyze our dataset, demonstrate its usability, and point out future research directions and use cases.

cs.RO↗

arXiv2023

Stress-Induced Mutagenesis Can Further Boost Population Success in Static Ecology

We have developed a mathematical model that captures stress-induced mutagenesis, a fundamental aspect of pathogenic and neoplastic evolutionary dynamics, on the fitness landscape with multiple relevant genetic traits as a high-dimensional Euclidean space. In this framework, stress-induced mutagenesis manifests as a heterogeneous diffusion process. We show how increasing mutations, and thus reducing exploitation, in a static ecology with fixed carrying capacity and maximum growth rates, can paradoxically boost population size. Remarkably, this unexpected biophysical phenomenon applies universally to any number of traits.

q-bio.PE↗