Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning

24 Sep 2018  ·  Changan Chen, Yuejiang Liu, Sven Kreiss, Alexandre Alahi ·

Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies... However, their cooperation ability deteriorates as the crowd grows since they typically relax the problem as a one-way Human-Robot interaction problem. In this work, we want to go beyond first-order Human-Robot interaction and more explicitly model Crowd-Robot Interaction (CRI). We propose to (i) rethink pairwise interactions with a self-attention mechanism, and (ii) jointly model Human-Robot as well as Human-Human interactions in the deep reinforcement learning framework. Our model captures the Human-Human interactions occurring in dense crowds that indirectly affects the robot's anticipation capability. Our proposed attentive pooling mechanism learns the collective importance of neighboring humans with respect to their future states. Various experiments demonstrate that our model can anticipate human dynamics and navigate in crowds with time efficiency, outperforming state-of-the-art methods. read more

PDF Abstract

Datasets


  Add Datasets introduced or used in this paper

Results from the Paper


  Submit results from this paper to get state-of-the-art GitHub badges and help the community compare results to other papers.

Methods


No methods listed for this paper. Add relevant methods here