XAI-N: Sensor-based Robot Navigation using Expert Policies and Decision Trees
Aaron M. Roth,Jing Liang,Dinesh Manocha,Aaron M. Roth,Jing Liang,Dinesh Manocha
We present a novel sensor-based learning navigation algorithm to compute a collision-free trajectory for a robot in dense and dynamic environments with moving obstacles or targets. Our approach uses deep reinforcement learning-based expert policy that is trained using a sim2real paradigm. In order to increase the reliability and handle the failure cases of the expert policy, we combine with a poli...
