NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments

12/08/2020
by   Daniel Dugas, et al.
0

Robot navigation is a task where reinforcement learning approaches are still unable to compete with traditional path planning. State-of-the-art methods differ in small ways, and do not all provide reproducible, openly available implementations. This makes comparing methods a challenge. Recent research has shown that unsupervised learning methods can scale impressively, and be leveraged to solve difficult problems. In this work, we design ways in which unsupervised learning can be used to assist reinforcement learning for robot navigation. We train two end-to-end, and 18 unsupervised-learning-based architectures, and compare them, along with existing approaches, in unseen test cases. We demonstrate our approach working on a real life robot. Our results show that unsupervised learning methods are competitive with end-to-end methods. We also highlight the importance of various components such as input representation, predictive unsupervised learning, and latent features. We make all our models publicly available, as well as training and testing environments, and tools. This release also includes OpenAI-gym-compatible environments designed to emulate the training conditions described by other papers, with as much fidelity as possible. Our hope is that this helps in bringing together the field of RL for robot navigation, and allows meaningful comparisons across state-of-the-art methods.

READ FULL TEXT

page 1

page 6

research
08/29/2023

Improving Reinforcement Learning Training Regimes for Social Robot Navigation

In order for autonomous mobile robots to navigate in human spaces, they ...
research
12/16/2020

A comparative evaluation of machine learning methods for robot navigation through human crowds

Robot navigation through crowds poses a difficult challenge to AI system...
research
06/15/2021

rSoccer: A Framework for Studying Reinforcement Learning in Small and Very Small Size Robot Soccer

Reinforcement learning is an active research area with a vast number of ...
research
09/16/2017

To Go or Not To Go? A Near Unsupervised Learning Approach For Robot Navigation

It is important for robots to be able to decide whether they can go thro...
research
09/23/2021

Hierarchies of Planning and Reinforcement Learning for Robot Navigation

Solving robotic navigation tasks via reinforcement learning (RL) is chal...
research
01/21/2020

Unsupervisedly Learned Representations: Should the Quest be Over?

There exists a Classification accuracy gap of about 20 methods of genera...
research
03/05/2021

Unsupervised Learning for Robust Fitting:A Reinforcement Learning Approach

Robust model fitting is a core algorithm in a large number of computer v...

Please sign up or login with your details

Forgot password? Click here to reset