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Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning

arXiv 1809.08835 ↗First posted 24 Sep 2018cs.RO cs.LGcited by 162

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Abstract (arXiv)

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.

Key facts. Cited by 162 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 Sep 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 29; 2022: 16; 2023: 34; 2024: 34; 2025: 24; 2026: 25.

162 papers.

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  1. 2023SACSoN: Scalable Autonomous Control for Social Navigationcited by 60
  2. 2021A Survey of Deep RL and IL for Autonomous Driving Policy Learningcited by 59
  3. 2023Principles and Guidelines for Evaluating Social Robot Navigation Algorithmscited by 52
  4. 2021Attention, please! A survey of Neural Attention Models in Deep Learningcited by 50
  5. 2022Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graphcited by 46
  6. 2021Interpretable Social Anchors for Human Trajectory Forecasting in Crowdscited by 44
  7. 2021Human Trajectory Prediction via Counterfactual Analysiscited by 42
  8. 2021Towards Robust and Adaptive Motion Forecasting: A Causal Representation Perspectivecited by 40
  9. 2022A generic diffusion-based approach for 3D human pose prediction in the wildcited by 33
  10. 2023Social-Transmotion: Promptable Human Trajectory Predictioncited by 33
  11. 2021Personalized Trajectory Prediction via Distribution Discriminationcited by 30
  12. 2021A Survey on Human-aware Robot Navigationcited by 23
38 more
  1. 2024Multi-Transmotion: Pre-trained Model for Human Motion Predictioncited by 21
  2. 2021Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrianscited by 20
  3. 2024MetaUrban: An Embodied AI Simulation Platform for Urban Micromobilitycited by 19
  4. 2021Egocentric Human Trajectory Forecasting with a Wearable Camera and Multi-Modal Fusioncited by 17
  5. 2023Joint-Relation Transformer for Multi-Person Motion Predictioncited by 16
  6. 2022Interaction Modeling with Multiplex Attentioncited by 14
  7. 2021Conflict Avoidance in Social Navigation -- a Surveycited by 13
  8. 2023Interactive Joint Planning for Autonomous Vehiclescited by 13
  9. 2021Arena-Rosnav: Towards Deployment of Deep-Reinforcement-Learning-Based Obstacle Avoidance into Conventional Autonomous Navigation Systemscited by 12
  10. 2022Safety-compliant Generative Adversarial Networks for Human Trajectory Forecastingcited by 12
  11. 2023Generative Causal Representation Learning for Out-of-Distribution Motion Forecastingcited by 12
  12. 2023Toward Reliable Human Pose Forecasting with Uncertaintycited by 11
  13. 2021Learning Sparse Interaction Graphs of Partially Detected Pedestrians for Trajectory Predictioncited by 10
  14. 2023InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actionscited by 10
  15. 2024From Cognition to Precognition: A Future-Aware Framework for Social Navigationcited by 10
  16. 2025SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictionscited by 10
  17. 2025SocialNav-SUB: Benchmarking VLMs for Scene Understanding in Social Robot Navigationcited by 10
  18. 2023HabiCrowd: A High Performance Simulator for Crowd-Aware Visual Navigationcited by 9
  19. 2024MATRIX: Multi-Agent Trajectory Generation with Diverse Contextscited by 9
  20. 2021Deep Social Forcecited by 8
  21. 2023Attention-aware Social Graph Transformer Networks for Stochastic Trajectory Predictioncited by 8
  22. 2024SELFI: Autonomous Self-Improvement with Reinforcement Learning for Social Navigationcited by 8
  23. 2024SoNIC: Safe Social Navigation with Adaptive Conformal Inference and Constrained Reinforcement Learningcited by 8
  24. 2021Human-Inspired Multi-Agent Navigation using Knowledge Distillationcited by 7
  25. 2022Concentration Network for Reinforcement Learning of Large-Scale Multi-Agent Systemscited by 7
  26. 2022NavDreams: Towards Camera-Only RL Navigation Among Humanscited by 7
  27. 2024NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learningcited by 7
  28. 2024DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigationcited by 7
  29. 2022Exploiting Proximity-Aware Tasks for Embodied Social Navigationcited by 6
  30. 2024Certified Human Trajectory Predictioncited by 6
  31. 2024HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environmentscited by 6
  32. 2021Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challengecited by 5
  33. 2022Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metricscited by 5
  34. 2023SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spacescited by 5
  35. 2023A Game-Theoretic Framework for Joint Forecasting and Planningcited by 5
  36. 2023TBD Pedestrian Data Collection: Towards Rich, Portable, and Large-Scale Natural Pedestrian Datacited by 5
  37. 2024Socially Integrated Navigation: A Social Acting Robot with Deep Reinforcement Learningcited by 5
  38. 2024Uncertainty-Aware DRL for Autonomous Vehicle Crowd Navigation in Shared Spacecited by 5

50 most cited of 162 All 162 (JSON)