{"id":"https://openalex.org/W7162464855","doi":"https://doi.org/10.48550/arxiv.2605.25685","title":"HumanFlow -- Diffusion-Driven MAV Navigation Among Humans via Tightly-Coupled Motion Tracking, Forecasting, and Control","display_name":"HumanFlow -- Diffusion-Driven MAV Navigation Among Humans via Tightly-Coupled Motion Tracking, Forecasting, and Control","publication_year":2026,"publication_date":"2026-05-25","ids":{"openalex":"https://openalex.org/W7162464855","doi":"https://doi.org/10.48550/arxiv.2605.25685"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.25685","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25685","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.25685","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137037729","display_name":"Simon Schaefer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schaefer, Simon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092266033","display_name":"Joshua N\u00e4f","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"N\u00e4f, Joshua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5006726091","display_name":"Stefan Leutenegger","orcid":"https://orcid.org/0000-0002-7998-3737"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leutenegger, Stefan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.36880001425743103,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.36880001425743103,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.13940000534057617,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.06750000268220901,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.733299970626831},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5705999732017517},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5680999755859375},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5547000169754028},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.421099990606308},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.3855000138282776},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3853999972343445},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.36980000138282776}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.733299970626831},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6996999979019165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6385999917984009},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6328999996185303},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5705999732017517},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5680999755859375},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5547000169754028},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.421099990606308},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.3855000138282776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3853999972343445},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.36980000138282776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36230000853538513},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35499998927116394},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.32839998602867126},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3228999972343445},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.30709999799728394},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.27489998936653137},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.2685999870300293},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.25685","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25685","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.25685","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25685","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robust":[0],"and":[1,27,54,71,88,97,150],"accurate":[2,28,89],"perception":[3],"of":[4,43,157],"humans":[5],"in":[6,40,101,136],"their":[7],"3D":[8,76],"scene":[9,77],"context":[10],"is":[11],"essential":[12],"for":[13,56,142],"integrating":[14],"robots":[15],"into":[16],"everyday":[17],"environments.":[18],"Existing":[19],"approaches,":[20],"however,":[21],"often":[22],"fail":[23],"to":[24],"predict":[25],"plausible":[26],"human":[29,68,83,140],"motion":[30,69,84],"estimates":[31],"that":[32,66,81],"are":[33],"consistent":[34],"with":[35,120,138],"the":[36,41,75,158],"surrounding":[37],"scene,":[38],"especially":[39],"presence":[42],"heavy":[44,95],"occlusions":[45],"or":[46],"partial":[47,155],"visibility.":[48],"This":[49],"can":[50,116],"limit":[51],"both":[52],"safety":[53],"efficiency":[55],"robotic":[57],"operations.":[58],"We":[59,79,132],"introduce":[60],"HumanFlow,":[61],"a":[62,124],"latent":[63,114],"diffusion":[64],"model":[65,85],"unifies":[67],"tracking":[70,102],"forecasting,":[72],"conditioned":[73],"on":[74,129],"context.":[78],"show":[80,111],"our":[82,134],"produces":[86],"smooth":[87],"predictions":[90],"under":[91,154],"challenging":[92],"conditions,":[93],"including":[94],"occlusions,":[96],"outperforms":[98],"state-of-the-art":[99],"methods":[100],"accuracy":[103],"while":[104],"being":[105],"significantly":[106],"more":[107],"efficient.":[108],"Furthermore,":[109],"we":[110],"how":[112],"HumanFlow's":[113],"space":[115],"be":[117],"tightly":[118],"coupled":[119],"control":[121],"by":[122],"conditioning":[123],"flow-matching-based,":[125],"approximate":[126],"MPC":[127],"policy":[128,135],"these":[130],"representations.":[131],"validate":[133],"simulation":[137],"real":[139],"trajectories":[141],"MAV":[143],"social":[144],"navigation,":[145],"demonstrating":[146],"superior":[147],"navigation":[148],"performance":[149],"remaining":[151],"collision-free,":[152],"even":[153],"observability":[156],"human.":[159]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-27T00:00:00"}