CoCoNav: Conformal Control for Safe Robot Navigation in Crowds

arXiv:2608.07751 · cs.RO, cs.LG · Submitted 2026-08-07 · Read on arXiv

Cheng Guo, Mingzhe Ni, Zheng Liang, Yihu Ling, Yuan Hu, Michele Caprio, Daniele Pucci, Wei Pan

cs.RO, cs.LG

Submitted: 2026-08-07

Updated: 2026-08-11

Code: https://github.com/zsibot/matrix

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Planner — 28× in this paper · explained in 3 episodes
• Calibration — 16× in this paper · explained in 9 episodes
• Conformal Prediction — 9× in this paper · explained in 11 episodes
• Verification — 8× in this paper · explained in 2 episodes
• Distribution Shift — 6× in this paper · explained in 12 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Empirical Coverage — 3× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 3× in this paper · explained in 8 episodes
• Navigation Time — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Collision Rate — 2× in this paper
• Core — 2× in this paper · explained in 2 episodes
• Distribution Shifts — 2× in this paper · explained in 2 episodes
• Minimum Distance — 2× in this paper
• Success Rate — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Covariate Shift — 1× in this paper · explained in 3 episodes
• Decoder — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 3 episodes
• Domain Shift — 1× in this paper · explained in 7 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Latent World Models — 1× in this paper · explained in 3 episodes
• Path Length — 1× in this paper
• Trace — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 8 episodes

Sources

• STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation
• Online Update of Safety Assurances Using Confidence-Based Predictions
• Interaction-aware Conformal Prediction for Crowd Navigation
• Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handling
• YOLOv11: An Overview of the Key Architectural Enhancements

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