Corpus ID: 212747535

Social navigation with human empowerment driven reinforcement learning

@article{Heiden2020SocialNW,
  title={Social navigation with human empowerment driven reinforcement learning},
  author={T. V. D. Heiden and Christian Weiss and N. Nagaraja and H. V. Hoof},
  journal={ArXiv},
  year={2020},
  volume={abs/2003.08158}
}
The next generation of mobile robots needs to be socially-compliant to be accepted by humans. As simple as this task may seem, defining compliance formally is not trivial. Yet, classical reinforcement learning (RL) relies upon hard-coded reward signals. In this work, we go beyond this approach and provide the agent with intrinsic motivation using empowerment. Empowerment maximizes the influence of an agent on its near future and has been shown to be a good model for biological behaviors. It… Expand
3 Citations

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