Improving the Generalization of Unseen Crowd Behaviors for Reinforcement Learning based Local Motion Planners
Wen Zheng Terence Ng,Jianda Chen,Sinno Jialin Pan,Tianwei Zhang,Wen Zheng Terence Ng,Jianda Chen,Sinno Jialin Pan,Tianwei Zhang
Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learningbased motion planners rely on a single policy to simulate pedestrian movements and could suffer from the over-fitting issue. Alternatively, framing the collision avoidance problem as a multi-agent framework, where agents generate dynamic moveme...
