An Actor-Critic Approach for Legible Robot Motion Planner
Xuan Zhao,Tingxiang Fan,Dawei Wang,Zhe Hu,Tao Han,Jia Pan,Xuan Zhao,Tingxiang Fan,Dawei Wang,Zhe Hu,Tao Han,Jia Pan
In human-robot collaboration, it is crucial for the robot to make its intentions clear and predictable to the human partners. Inspired by the mutual learning and adaptation of human partners, we suggest an actor-critic approach for a legible robot motion planner. This approach includes two neural networks and a legibility evaluator: 1) A policy network based on deep reinforcement learning (DRL); 2...
