相关论文: Socially Compliant Navigation through Raw Depth In…

In this paper, we present an algorithm to efficiently learn socially-compliant navigation policies from observations of human trajectories. As mobile robots come to inhabit and traffic social spaces, they must account for social cues and…

This paper presents a novel data-driven crowd simulation method that can mimic the observed traffic of pedestrians in a given environment. Given a set of observed trajectories, we use a recent form of neural networks, Generative Adversarial…

This paper addresses navigation in crowded environments by integrating goal-conditioned generative models with Sampling-based Model Predictive Control (SMPC). We introduce goal-conditioned autoregressive models to generate crowd behaviors,…

Simulation is an appealing option for validating the safety of autonomous vehicles. Generative Adversarial Imitation Learning (GAIL) has recently been shown to learn representative human driver models. These human driver models were learned…

Imitation learning targets deriving a mapping from states to actions, a.k.a. policy, from expert demonstrations. Existing methods for imitation learning typically require any actions in the demonstrations to be fully available, which is…

Objective: Navigation through tortuous and deformable vessels using catheters with limited steering capability underscores the need for reliable path planning. State-of-the-art path planners do not fully account for the deformable nature of…

Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in most cases, obtaining demonstration data is costly and…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…

We study risk-sensitive imitation learning where the agent's goal is to perform at least as well as the expert in terms of a risk profile. We first formulate our risk-sensitive imitation learning setting. We consider the generative…

Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…

In this study, we enhance the Maximum Entropy Deep Inverse Reinforcement Learning (MEDIRL) framework, targeting its application in human robot interaction (HRI) for modeling pedestrian behavior in crowded environments. Our work is grounded…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

Adversarial Imitation Learning (AIL) is a broad family of imitation learning methods designed to mimic expert behaviors from demonstrations. While AIL has shown state-of-the-art performance on imitation learning with only small number of…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

Many modern methods for imitation learning and inverse reinforcement learning, such as GAIL or AIRL, are based on an adversarial formulation. These methods apply GANs to match the expert's distribution over states and actions with the…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…

We present the ADaptive Adversarial Imitation Learning (ADAIL) algorithm for learning adaptive policies that can be transferred between environments of varying dynamics, by imitating a small number of demonstrations collected from a single…

Imitation learning aims to learn a policy from observing expert demonstrations without access to reward signals from environments. Generative adversarial imitation learning (GAIL) formulates imitation learning as adversarial learning,…