Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. However, their cooperation ability deteriorates as the crowd grows since they typically relax the problem as a one-way Human-Robot interaction problem. In this work, we want to go beyond first-order Human-Robot interaction and more explicitly model Crowd-Robot Interaction (CRI). We propose to (i) rethink pairwise interactions with a self-attention mechanism, and (ii) jointly model Human-Robot as well as Human-Human interactions in the deep reinforcement learning framework. Our model captures the Human-Human interactions occurring in dense crowds that indirectly affects the robot's anticipation capability. Our proposed attentive pooling mechanism learns the collective importance of neighboring humans with respect to their future states. Various experiments demonstrate that our model can anticipate human dynamics and navigate in crowds with time efficiency, outperforming state-of-the-art methods.
A variety of deep neural networks architectures have been proposed in recent years to improve the modeling of Human-Human interactions @cite_12 . Handcrafted methods (, based on Discrete Choice models @cite_32 ) have a nice interpretable property but have limited prediction power as recently shown in @cite_31 . Data-driven methods such as the Social LSTM method @cite_46 models each individual by an LSTM and shares the states of neighboring LSTMs through a social pooling module. More recently, generative models are used for improved accuracy and efficiency @cite_41 @cite_6 @cite_13 . Yet, the generative models still suffer from mode collapse @cite_20 . Some other works model the social interactions through spatio-temporal graphs, where an attention model is introduced recently to learn the relative importance of each agent @cite_25 . Sadeghian @cite_54 study various attention mechanisms. In our work, that is built upon these models, we design a social attentive pooling module to encode crowd cooperative behaviors in a deep reinforcement learning framework.
@cite_31 @cite_41 @cite_54 @cite_32 @cite_6 @cite_46 @cite_20 @cite_13 @cite_25 @cite_12
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Discrete choice models generally assume that model specification is known a priori. In practice, determining the utility specification for a particular application remains a difficult task and model misspecification may lead to biased parameter estimates. In this paper, we propose a new mathematical framework for estimating choice models in which the systematic part of the utility specification is divided into an interpretable part and a learning representation part that aims at automatically discovering a good utility specification from available data. We show the effectiveness of our framework by augmenting the utility specification of the Multinomial Logit Model (MNL) with a new non-linear representation arising from a Neural Network (NN). This leads to a new choice model referred to as the Learning Multinomial Logit (L-MNL) model. Our experiments show that our L-MNL model outperformed the traditional MNL models and existing hybrid neural network models both in terms of predictive performance and accuracy in parameter estimation. As humans we possess an intuitive ability for navigation which we master through years of practice; however existing approaches to model this trait for diverse tasks including monitoring pedestrian flow and detecting abnormal events have been limited by using a variety of hand-crafted features. Recent research in the area of deep-learning has demonstrated the power of learning features directly from the data; and related research in recurrent neural networks has shown exemplary results in sequence-to-sequence problems such as neural machine translation and neural image caption generation. Motivated by these approaches, we propose a novel method to predict the future motion of a pedestrian given a short history of their, and their neighbours, past behaviour. The novelty of the proposed method is the combined attention model which utilises both "soft attention" as well as "hard-wired" attention in order to map the trajectory information from the local neighbourhood to the future positions of the pedestrian of interest. We illustrate how a simple approximation of attention weights (i.e hard-wired) can be merged together with soft attention weights in order to make our model applicable for challenging real world scenarios with hundreds of neighbours. The navigational capability of the proposed method is tested on two challenging publicly available surveillance databases where our model outperforms the current-state-of-the-art methods. Additionally, we illustrate how the proposed architecture can be directly applied for the task of abnormal event detection without handcrafting the features. We present an interpretable framework for path prediction that leverages dependencies between agents’ behaviors and their spatial navigation environment. We exploit two sources of information: the past motion trajectory of the agent of interest and a wide top-view image of the navigation scene. We propose a Clairvoyant Attentive Recurrent Network (CAR-Net) that learns where to look in a large image of the scene when solving the path prediction task. Our method can attend to any area, or combination of areas, within the raw image (e.g., road intersections) when predicting the trajectory of the agent. This allows us to visualize fine-grained semantic elements of navigation scenes that influence the prediction of trajectories. To study the impact of space on agents’ trajectories, we build a new dataset made of top-view images of hundreds of scenes (Formula One racing tracks) where agents’ behaviors are heavily influenced by known areas in the images (e.g., upcoming turns). CAR-Net successfully attends to these salient regions. Additionally, CAR-Net reaches state-of-the-art accuracy on the standard trajectory forecasting benchmark, Stanford Drone Dataset (SDD). Finally, we show CAR-Net’s ability to generalize to unseen scenes. We propose a discrete choice framework for pedestrian dynamics, modelling short term behavior of individuals as a response to the presence of other pedestrians. We use a dynamic and individual-based spatial discretization, representing the physical space. We develop a model predicting where the next step of a walking pedestrian will be, at a given point in time. The use of the discrete choice framework is justified by its flexibility, the capacity to deal with individuals and the compatibility with agent-based simulation. The model is calibrated using data from actual pedestrian movements, manually taken from video sequences. We present two different formulations: a cross-nested logit and a mixed nested logit. In order to verify the quality of the calibrated model, we have designed and developed a pedestrians simulator. 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. A standard practice in Generative Adversarial Networks (GANs) is to completely discard the discriminator when generating samples. However, this sampling method loses valuable information learned by the discriminator regarding the data distribution. In this work, we propose a collaborative sampling scheme between the generator and the discriminator for improved data generation. Guided by the discriminator, our approach refines generated samples through gradient-based optimization at a particular layer of the generator, shifting the generator distribution closer to the real data distribution. Additionally, we present a practical discriminator shaping method that can smoothen the loss landscape and further improve the sample refinement process. Through experiments on synthetic and image datasets, we demonstrate that our proposed method is able to improve generated samples both quantitatively and qualitatively, offering a new degree of freedom in GAN sampling. We finally show its potential for tackling mode collapse as well as adversarial examples. Robots that navigate through human crowds need to be able to plan safe, efficient, and human predictable trajectories. This is a particularly challenging problem as it requires the robot to predict future human trajectories within a crowd where everyone implicitly cooperates with each other to avoid collisions. Previous approaches to human trajectory prediction have modeled the interactions between humans as a function of proximity. However, that is not necessarily true as some people in our immediate vicinity moving in the same direction might not be as important as other people that are further away, but that might collide with us in the future. In this work, we propose Social Attention, a novel trajectory prediction model that captures the relative importance of each person when navigating in the crowd, irrespective of their proximity. We demonstrate the performance of our method against a state-of-the-art approach on two publicly available crowd datasets and analyze the trained attention model to gain a better understanding of which surrounding agents humans attend to, when navigating in a crowd.