SELFI: Autonomous Self-Improvement with Reinforcement Learning for Social Navigation

• URL: http://arxiv.org/abs/2403.00991v1
• Date: Fri, 1 Mar 2024 21:27:03 GMT
• Title: SELFI: Autonomous Self-Improvement with Reinforcement Learning for Social Navigation
• Authors: Noriaki Hirose, Dhruv Shah, Kyle Stachowicz, Ajay Sridhar and Sergey Levine
• Abstract summary: Self-improving robots that interact and improve with experience are key to the real-world deployment of robotic systems. We propose an online learning method, SELFI, that leverages online robot experience to rapidly fine-tune pre-trained control policies. We report improvements in terms of collision avoidance, as well as more socially compliant behavior, measured by a human user study.
• Score: 58.98433356015055
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: Autonomous self-improving robots that interact and improve with experience are key to the real-world deployment of robotic systems. In this paper, we propose an online learning method, SELFI, that leverages online robot experience to rapidly fine-tune pre-trained control policies efficiently. SELFI applies online model-free reinforcement learning on top of offline model-based learning to bring out the best parts of both learning paradigms. Specifically, SELFI stabilizes the online learning process by incorporating the same model-based learning objective from offline pre-training into the Q-values learned with online model-free reinforcement learning. We evaluate SELFI in multiple real-world environments and report improvements in terms of collision avoidance, as well as more socially compliant behavior, measured by a human user study. SELFI enables us to quickly learn useful robotic behaviors with less human interventions such as pre-emptive behavior for the pedestrians, collision avoidance for small and transparent objects, and avoiding travel on uneven floor surfaces. We provide supplementary videos to demonstrate the performance of our fine-tuned policy on our project page.

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