Learning to Navigate in Human Environments via Deep Reinforcement Learning

	Learning to Navigate in Human Environments via Deep Reinforcement Learning
	Xingyuan Gao 1,2; Shiying Sun1 ; Xiaoguang Zhao1 ; Min Tan1
	2019-12-09
会议名称	International Conference on Neural Information Processing
会议日期	2019-12-12至2019-12-15
会议地点	Sydney, Australia
出版者	Springer
摘要	Mobile robots have been widely applied in human populated environments. To interact with humans, the robots require the capac ity to navigate safely and effiffifficiently in complex environments. Recent works have successfully applied reinforcement learning to learn socially normative navigation behaviors. However, they mostly focus on model ing human-robot cooperations and neglect complex interactions between pedestrians. In addition, these methods are implemented using assump tions of perfect sensing about the states of pedestrians, which makes the model less robust to the perception uncertainty. This work presents a novel algorithm to learn an effiffifficient navigation policy that exhibits socially normative navigation behaviors. We propose to employ convo lutional social pooling to jointly capture human-robot cooperations and inter-human interactions in an actor-critic reinforcement learning frame work. In addition, we propose to focus on partial observability in socially normative navigation. Our model is capable to learn the representation of unobservable states with recurrent neural networks and further improves the stability of the algorithm. Experimental results show that the pro posed learning algorithm enables robots to learn socially normative navi gation behaviors and achieves a better performance than state-of-the-art methods.
语种	英语
七大方向——子方向分类	机器人感知与决策
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/47407
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Shiying Sun
作者单位	1.The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Xingyuan Gao,Shiying Sun,Xiaoguang Zhao,et al. Learning to Navigate in Human Environments via Deep Reinforcement Learning[C]:Springer,2019.

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