相关论文: Multi-Agent Inverse Reinforcement Learning in Real…

Learning robot navigation strategies among pedestrian is crucial for domain based applications. Combining perception, planning and prediction allows us to model the interactions between robots and pedestrians, resulting in impressive…

This paper reports on learning a reward map for social navigation in dynamic environments where the robot can reason about its path at any time, given agents' trajectories and scene geometry. Humans navigating in dense and dynamic indoor…

Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learning-based motion planners rely on a single policy to simulate pedestrian movements and…

Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

When deploying artificial agents in real-world environments where they interact with humans, it is crucial that their behavior is aligned with the values, social norms or other requirements of that environment. However, many environments…

It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…

Reward function, as an incentive representation that recognizes humans' agency and rationalizes humans' actions, is particularly appealing for modeling human behavior in human-robot interaction. Inverse Reinforcement Learning is an…

We study the problem of safe and intention-aware robot navigation in dense and interactive crowds. Most previous reinforcement learning (RL) based methods fail to consider different types of interactions among all agents or ignore the…

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…

Autonomous cyber-physical agents and systems play an increasingly large role in our lives. To ensure that agents behave in ways aligned with the values of the societies in which they operate, we must develop techniques that allow these…

Reinforcement Learning is proving a successful tool that can manage urban intersections with a fraction of the effort required to curate traditional traffic controllers. However, literature on the introduction and control of pedestrians to…

Safe and efficient crowd navigation for mobile robot is a crucial yet challenging task. Previous work has shown the power of deep reinforcement learning frameworks to train efficient policies. However, their performance deteriorates when…

In robotic systems, the performance of reinforcement learning depends on the rationality of predefined reward functions. However, manually designed reward functions often lead to policy failures due to inaccuracies. Inverse Reinforcement…

The multiagent-based participatory simulation features prominently in urban planning as the acquired model is considered as the hybrid system of the domain and the local knowledge. However, the key problem of generating realistic agents for…

This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…

In Multi-Goal Reinforcement Learning, an agent learns to achieve multiple goals with a goal-conditioned policy. During learning, the agent first collects the trajectories into a replay buffer, and later these trajectories are selected…

Extensive research has been devoted to the field of multi-agent navigation. Recently, there has been remarkable progress attributed to the emergence of learning-based techniques with substantially elevated intelligence and realism.…

Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…

In recent years, the growing demand for more intelligent service robots is pushing the development of mobile robot navigation algorithms to allow safe and efficient operation in a dense crowd. Reinforcement learning (RL) approaches have…