Sequential decision-making (SDM) plays a key role in intelligent robotics, and can be realized in very different ways, such as supervised learning, automated reasoning, and probabilistic planning. The three families of methods follow different assumptions and have different (dis)advantages. In this work, we aim at a robot SDM framework that exploits the complementary features of learning, reasoning, and planning. We utilize long short-term memory (LSTM), for passive state estimation with streaming sensor data, and commonsense reasoning and probabilistic planning (CORPP) for active information collection and task accomplishment. In experiments, a mobile robot is tasked with estimating human intentions using their motion trajectories, declarative contextual knowledge, and human-robot interaction (dialog-based and motion-based). Results suggest that our framework performs better than its no-learning and no-reasoning versions in a real-world office environment.
alahi2016social proposed the social LSTM to consider trajectory prediction of people with interactions at large distance @cite_21 . The developed architecture, automatically learns typical interactions that take place among trajectories which coincide in time by sharing LSTMs of spatially proximal sequences. fernando2017soft+ developed a method to predict human future motion based on their trajectory and trajectory of their neighbors using LSTM framework @cite_3 . None of the works involve active perception for human intention estimation.
@cite_21 @cite_3
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Pedestrian trajectory prediction is an extremely challenging problem because of the crowdedness and clutter of the scenes. Previous deep learning LSTM-based approaches focus on the neighbourhood influence of pedestrians but ignore the scene layouts in pedestrian trajectory prediction. In this paper, a novel hierarchical LSTM-based network is proposed to consider both the influence of social neighbourhood and scene layouts. Our SS-LSTM, which stands for Social-Scene-LSTM, uses three different LSTMs to capture person, social and scene scale information. We also use a circular shape neighbourhood setting instead of the traditional rectangular shape neighbourhood in the social scale. We evaluate our proposed method against two baseline methods and a state-of-art technique on three public datasets. The results show that our method outperforms other methods and that using circular shape neighbourhood improves the prediction accuracy. Pedestrians follow different trajectories to avoid obstacles and accommodate fellow pedestrians. Any autonomous vehicle navigating such a scene should be able to foresee the future positions of pedestrians and accordingly adjust its path to avoid collisions. This problem of trajectory prediction can be viewed as a sequence generation task, where we are interested in predicting the future trajectory of people based on their past positions. Following the recent success of Recurrent Neural Network (RNN) models for sequence prediction tasks, we propose an LSTM model which can learn general human movement and predict their future trajectories. This is in contrast to traditional approaches which use hand-crafted functions such as Social forces. We demonstrate the performance of our method on several public datasets. Our model outperforms state-of-the-art methods on some of these datasets. We also analyze the trajectories predicted by our model to demonstrate the motion behaviour learned by our model.