Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learning

• URL: http://arxiv.org/abs/2011.04820v3
• Date: Thu, 3 Jun 2021 15:51:50 GMT
• Title: Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learning
• Authors: Shuijing Liu, Peixin Chang, Weihang Liang, Neeloy Chakraborty, Katherine Driggs-Campbell
• Abstract summary: We propose structural-Recurrent Neural Network (DS-RNN), a novel network that reasons about spatial and temporal relationships for robot decision making in crowd navigation. We demonstrate that our model outperforms previous methods in challenging crowd navigation scenarios. We successfully transfer the policy learned in the simulator to a real-world TurtleBot 2i.
• Score: 4.724825031148412
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Safe and efficient navigation through human crowds is an essential capability for mobile robots. Previous work on robot crowd navigation assumes that the dynamics of all agents are known and well-defined. In addition, the performance of previous methods deteriorates in partially observable environments and environments with dense crowds. To tackle these problems, we propose decentralized structural-Recurrent Neural Network (DS-RNN), a novel network that reasons about spatial and temporal relationships for robot decision making in crowd navigation. We train our network with model-free deep reinforcement learning without any expert supervision. We demonstrate that our model outperforms previous methods in challenging crowd navigation scenarios. We successfully transfer the policy learned in the simulator to a real-world TurtleBot 2i.

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