AI News, Model helps robots navigate more like humans do
Model helps robots navigate more like humans do
When moving through a crowd to reach some end goal, humans can usually navigate the space safely without thinking too much.
A robot that needs to navigate a room to reach a door, for instance, will create a step-by-step search tree of possible movements and then execute the best path to the door, considering various constraints.
They’re always exploring, rarely observing, and never using what’s happened in the past.” The researchers developed a model that combines a planning algorithm with a neural network that learns to recognize paths that could lead to the best outcome, and uses that knowledge to guide the robot’s movement in an environment.
In their paper, “Deep sequential models for sampling-based planning,” the researchers demonstrate the advantages of their model in two settings: navigating through challenging rooms with traps and narrow passages, and navigating areas while avoiding collisions with other agents.
“The idea behind this work is to add to the search space a machine-learning model that knows from past experience how to make planning more efficient.” Boris Katz, a principal research scientist and head of the InfoLab Group at CSAIL, is also a co-author on the paper.
(It’s a variant of a widely used motion-planning algorithm known as Rapidly-exploring Random Trees, or RRT.) The planner creates a search tree while the neural network mirrors each step and makes probabilistic predictions about where the robot should go next.
For example, the researchers demonstrated the model in a simulation known as a “bug trap,” where a 2-D robot must escape from an inner chamber through a central narrow channel and reach a location in a surrounding larger room.
The neural network helps the robot find the exit to the trap, identify the dead ends, and gives the robot a sense of its surroundings so it can quickly find the goal.
Working with multiple agents In one other experiment, the researchers trained and tested the model in navigating environments with multiple moving agents, which is a useful test for autonomous cars, especially navigating intersections and roundabouts.
This problem gets exponentially worse the more cars you have to contend with.” Results indicate that the researchers’ model can capture enough information about the future behavior of the other agents (cars) to cut off the process early, while still making good decisions in navigation.
Socially compliant mobile robot navigation via inverse reinforcement learning
We model their behavior in terms of a mixture distribution that captures both the discrete navigation decisions, such as going left or going right, as well as the natural variance of human trajectories.
Using the proposed model, our method is able to imitate the behavior of pedestrians or, alternatively, to replicate a specific behavior that was taught by tele-operation in the target environment of the robot.
An extensive set of experiments suggests that our technique outperforms state-of-the-art methods to model the behavior of pedestrians, which also makes it applicable to fields such as behavioral science or computer graphics.
- On Monday, September 23, 2019
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