Autonomous navigation robots can increase the independence of blind people but often limit user control, following what is called in Japanese an "omakase" approach where decisions are left to the robot. This research investigates ways to enhance user control in social robot navigation, based on two studies conducted with blind participants. The first study, involving structured interviews (N=14), identified crowded spaces as key areas with significant social challenges. The second study (N=13) explored navigation tasks with an autonomous robot in these environments and identified design strategies across different modes of autonomy. Participants preferred an active role, termed the "boss" mode, where they managed crowd interactions, while the "monitor" mode helped them assess the environment, negotiate movements, and interact with the robot. These findings highlight the importance of shared control and user involvement for blind users, offering valuable insights for designing future social navigation robots.

Visual Language Navigation (VLN) powered navigation robots have the potential to guide blind people by understanding and executing route instructions provided by sighted passersby. This capability allows robots to operate in environments that are often unknown a priori. Existing VLN models are insufficient for the scenario of navigation guidance for blind people, as they need to understand routes described from human memory, which frequently contain stutters, errors, and omission of details as opposed to those obtained by thinking out loud, such as in the Room-to-Room dataset. However, currently, there is no benchmark that simulates instructions that were obtained from human memory in environments where blind people navigate. To this end, we present our benchmark, Memory-Maze, which simulates the scenario of seeking route instructions for guiding blind people. Our benchmark contains a maze-like structured virtual environment and novel route instruction data from human memory. To collect natural language instructions, we conducted two studies from sighted passersby onsite and annotators online. Our analysis demonstrates that instructions data collected onsite were more lengthy and contained more varied wording. Alongside our benchmark, we propose a VLN model better equipped to handle the scenario. Our proposed VLN model uses Large Language Models (LLM) to parse instructions and generate Python codes for robot control. We further show that the existing state-of-the-art model performed suboptimally on our benchmark. In contrast, our proposed method outperformed the state-of-the-art model by a fair margin. We found that future research should exercise caution when considering VLN technology for practical applications, as real-world scenarios have different characteristics than ones collected in traditional settings.

Social navigation and pedestrian behavior research has shifted towards machine learning-based methods and converged on the topic of modeling inter-pedestrian interactions and pedestrian-robot interactions. For this, large-scale datasets that contain rich information are needed. We describe a portable data collection system, coupled with a semi-autonomous labeling pipeline. As part of the pipeline, we designed a label correction web app that facilitates human verification of automated pedestrian tracking outcomes. Our system enables large-scale data collection in diverse environments and fast trajectory label production. Compared with existing pedestrian data collection methods, our system contains three components: a combination of top-down and ego-centric views, natural human behavior in the presence of a socially appropriate "robot", and human-verified labels grounded in the metric space. To the best of our knowledge, no prior data collection system has a combination of all three components. We further introduce our ever-expanding dataset from the ongoing data collection effort -- the TBD Pedestrian Dataset and show that our collected data is larger in scale, contains richer information when compared to prior datasets with human-verified labels, and supports new research opportunities.

Abstract-- Recently, pedestrian behavior research has shifted towards machine learning based methods and converged on the topic of modeling pedestrian interactions. For this, a large-scale dataset that contains rich information is needed. We propose a data collection system that is portable, which facilitates accessible large-scale data collection in diverse environments. We further introduce the first batch of dataset from the ongoing data collection effort - the TBD pedestrian dataset. Compared with existing pedestrian datasets, our dataset contains three components: human verified labels grounded in the metric space, a combination of top-down and perspective views, and naturalistic human behavior in the presence of a socially appropriate "robot".