6,569 research outputs found
Socially Aware Motion Planning with Deep Reinforcement Learning
For robotic vehicles to navigate safely and efficiently in pedestrian-rich
environments, it is important to model subtle human behaviors and navigation
rules (e.g., passing on the right). However, while instinctive to humans,
socially compliant navigation is still difficult to quantify due to the
stochasticity in people's behaviors. Existing works are mostly focused on using
feature-matching techniques to describe and imitate human paths, but often do
not generalize well since the feature values can vary from person to person,
and even run to run. This work notes that while it is challenging to directly
specify the details of what to do (precise mechanisms of human navigation), it
is straightforward to specify what not to do (violations of social norms).
Specifically, using deep reinforcement learning, this work develops a
time-efficient navigation policy that respects common social norms. The
proposed method is shown to enable fully autonomous navigation of a robotic
vehicle moving at human walking speed in an environment with many pedestrians.Comment: 8 page
Arena: A General Evaluation Platform and Building Toolkit for Multi-Agent Intelligence
Learning agents that are not only capable of taking tests, but also
innovating is becoming a hot topic in AI. One of the most promising paths
towards this vision is multi-agent learning, where agents act as the
environment for each other, and improving each agent means proposing new
problems for others. However, existing evaluation platforms are either not
compatible with multi-agent settings, or limited to a specific game. That is,
there is not yet a general evaluation platform for research on multi-agent
intelligence. To this end, we introduce Arena, a general evaluation platform
for multi-agent intelligence with 35 games of diverse logics and
representations. Furthermore, multi-agent intelligence is still at the stage
where many problems remain unexplored. Therefore, we provide a building toolkit
for researchers to easily invent and build novel multi-agent problems from the
provided game set based on a GUI-configurable social tree and five basic
multi-agent reward schemes. Finally, we provide Python implementations of five
state-of-the-art deep multi-agent reinforcement learning baselines. Along with
the baseline implementations, we release a set of 100 best agents/teams that we
can train with different training schemes for each game, as the base for
evaluating agents with population performance. As such, the research community
can perform comparisons under a stable and uniform standard. All the
implementations and accompanied tutorials have been open-sourced for the
community at https://sites.google.com/view/arena-unity/
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