Timezone: »
Occlusion-Aware Crowd Navigation Using People as Sensors
Ye-Ji Mun · Masha Itkina · Katherine Driggs-Campbell
Event URL: https://eventhosts.gather.town/app/kR7ip0Bhhn8BXuMD/wiml-workshop-2021 »
Navigating crowded, partially occluded environments is an open challenge for mobile robots. In dense crowds, spatial occlusions are inevitable due to limited sensor field of view (FOV) and obstructing obstacles. Prior work shows the efficacy of using observed interactions between human agents to make inferences about potential obstacles in occluded spaces. The observed humans act as an additional sensor to complement traditional sensors that form the incomplete map. Extending this idea, we propose a deep reinforcement learning (RL) planner that incorporates occlusion-aware features to encourage proactive avoidance of occluded obstacles and agents. We empirically demonstrate that our RL framework successfully avoids collisions with occluded agents by extracting informative features from observed interactions. To the best of our knowledge, this is the first study to exploit social inference in crowds for collision avoidance of occluded dynamic agents.
Author Information
Ye-Ji Mun (University of Illinois at Urbana-Champaign)
Masha Itkina (Stanford University)
Katherine Driggs-Campbell (University of Illinois at Urbana-Champaign)
More from the Same Authors
-
2022 : To Explain or Not to Explain: A Study on the Necessity of Explanations for Autonomous Vehicles »
Yuan Shen · Shanduojiao Jiang · Yanlin Chen · Katherine Driggs-Campbell -
2023 Poster: Equivariant Few-Shot Learning from Pretrained Models »
Sourya Basu · Pulkit Katdare · Prasanna Sattigeri · Vijil Chenthamarakshan · Katherine Driggs-Campbell · Payel Das · Lav Varshney -
2022 : Panel: Explainability/Predictability Robotics (Q&A 4) »
Katherine Driggs-Campbell · Been Kim · Leila Takayama -
2022 : Debate: Robotics for Good »
Karol Hausman · Katherine Driggs-Campbell · Luca Carlone · Sarah Dean · Matthew Johnson-Roberson · Animesh Garg -
2022 Workshop: 5th Robot Learning Workshop: Trustworthy Robotics »
Alex Bewley · Roberto Calandra · Anca Dragan · Igor Gilitschenski · Emily Hannigan · Masha Itkina · Hamidreza Kasaei · Jens Kober · Danica Kragic · Nathan Lambert · Julien PEREZ · Fabio Ramos · Ransalu Senanayake · Jonathan Tompson · Vincent Vanhoucke · Markus Wulfmeier -
2022 : Panel Discussion »
Chuchu Fan · Stefanos Nikolaidis · Katherine Driggs-Campbell · Matthew Gombolay · Daniel Omeiza -
2022 : To Explain or Not to Explain: A Study on the Necessity of Explanations for Autonomous Vehicles »
Yuan Shen · Shanduojiao Jiang · Yanlin Chen · Katherine Driggs-Campbell -
2022 : Failure Identification for Semi- and Unstructured Robot Environments »
Katherine Driggs-Campbell -
2021 Workshop: 4th Robot Learning Workshop: Self-Supervised and Lifelong Learning »
Alex Bewley · Masha Itkina · Hamidreza Kasaei · Jens Kober · Nathan Lambert · Julien PEREZ · Ransalu Senanayake · Vincent Vanhoucke · Markus Wulfmeier · Igor Gilitschenski -
2021 : Fantastic Failures and Where to Find Them: Designing Safe, Robust Autonomy »
Katherine Driggs-Campbell -
2021 Poster: Evidential Softmax for Sparse Multimodal Distributions in Deep Generative Models »
Phil Chen · Masha Itkina · Ransalu Senanayake · Mykel J Kochenderfer -
2020 Workshop: 3rd Robot Learning Workshop »
Masha Itkina · Alex Bewley · Roberto Calandra · Igor Gilitschenski · Julien PEREZ · Ransalu Senanayake · Markus Wulfmeier · Vincent Vanhoucke -
2020 : Introduction »
Masha Itkina -
2020 Poster: Evidential Sparsification of Multimodal Latent Spaces in Conditional Variational Autoencoders »
Masha Itkina · Boris Ivanovic · Ransalu Senanayake · Mykel J Kochenderfer · Marco Pavone -
2019 : Poster session »
Sebastian Farquhar · Erik Daxberger · Andreas Look · Matt Benatan · Ruiyi Zhang · Marton Havasi · Fredrik Gustafsson · James A Brofos · Nabeel Seedat · Micha Livne · Ivan Ustyuzhaninov · Adam Cobb · Felix D McGregor · Patrick McClure · Tim R. Davidson · Gaurush Hiranandani · Sanjeev Arora · Masha Itkina · Didrik Nielsen · William Harvey · Matias Valdenegro-Toro · Stefano Peluchetti · Riccardo Moriconi · Tianyu Cui · Vaclav Smidl · Taylan Cemgil · Jack Fitzsimons · He Zhao · · mariana vargas vieyra · Apratim Bhattacharyya · Rahul Sharma · Geoffroy Dubourg-Felonneau · Jonathan Warrell · Slava Voloshynovskiy · Mihaela Rosca · Jiaming Song · Andrew Ross · Homa Fashandi · Ruiqi Gao · Hooshmand Shokri Razaghi · Joshua Chang · Zhenzhong Xiao · Vanessa Boehm · Giorgio Giannone · Ranganath Krishnan · Joe Davison · Arsenii Ashukha · Jeremiah Liu · Sicong (Sheldon) Huang · Evgenii Nikishin · Sunho Park · Nilesh Ahuja · Mahesh Subedar · · Artyom Gadetsky · Jhosimar Arias Figueroa · Tim G. J. Rudner · Waseem Aslam · Adrián Csiszárik · John Moberg · Ali Hebbal · Kathrin Grosse · Pekka Marttinen · Bang An · Hlynur Jónsson · Samuel Kessler · Abhishek Kumar · Mikhail Figurnov · Omesh Tickoo · Steindor Saemundsson · Ari Heljakka · Dániel Varga · Niklas Heim · Simone Rossi · Max Laves · Waseem Gharbieh · Nicholas Roberts · Luis Armando Pérez Rey · Matthew Willetts · Prithvijit Chakrabarty · Sumedh Ghaisas · Carl Shneider · Wray Buntine · Kamil Adamczewski · Xavier Gitiaux · Suwen Lin · Hao Fu · Gunnar Rätsch · Aidan Gomez · Erik Bodin · Dinh Phung · Lennart Svensson · Juliano Tusi Amaral Laganá Pinto · Milad Alizadeh · Jianzhun Du · Kevin Murphy · Beatrix Benkő · Shashaank Vattikuti · Jonathan Gordon · Christopher Kanan · Sontje Ihler · Darin Graham · Michael Teng · Louis Kirsch · Tomas Pevny · Taras Holotyak