Corpus ID: 203594111

Relational Graph Learning for Crowd Navigation

  title={Relational Graph Learning for Crowd Navigation},
  author={Chang’an Chen and Sha Hu and P. Nikdel and G. Mori and M. Savva},
  • Chang’an Chen, Sha Hu, +2 authors M. Savva
  • Published 2019
  • Computer Science, Engineering
  • ArXiv
  • We present a relational graph learning approach for robotic crowd navigation using model-based deep reinforcement learning that plans actions by looking into the future. Our approach reasons about the relations between all agents based on their latent features and uses a Graph Convolutional Network to encode higher-order interactions in each agent's state representation, which is subsequently leveraged for state prediction and value estimation. The ability to predict human motion allows us to… CONTINUE READING
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