TAGA
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TAGA: A Tangent-Based Reactive Approach for Socially Compliant Robot Navigation Around Human Groups
Announce Type: replace Abstract: Robots navigating human-populated environments must avoid collisions while respecting the social structure of crowds, particularly the implicit boundaries of social groups. Most navigation approaches model humans as independent individuals,causing socially disruptive behavior even when collision-free. This paper presents TAGA (Tangent Action for Group Avoidance), detected group boundaries via tangent-path maneuvers without modifying the underlying navigation...
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion
arXiv:2606.05880v1 Announce Type: new Abstract: Agile humanoid locomotion across diverse challenging terrain demands both wide perceptual coverage and precise local geometry understanding. Motivated by the way humans selectively look at relevant terrain during locomotion, we introduce TAGA, a Terrain-aware Active Gaze learning framework for Attention-based humanoid control. By fusing vision, proprioception, and motion commands, our framework guides the model to learn anticipatory cues and...