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Relational Graph Learning for Crowd Navigation

arXiv 1909.13165 ↗First posted 28 Sep 2019cs.RO cs.AI cs.LGcited by 42

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Abstract (arXiv)

We present a relational graph learning approach for robotic crowd navigation using model-based deep reinforcement learning that plans actions by looking into the future. Our approach reasons about the relations between all agents based on their latent features and uses a Graph Convolutional Network to encode higher-order interactions in each agent's state representation, which is subsequently leveraged for state prediction and value estimation. The ability to predict human motion allows us to perform multi-step lookahead planning, taking into account the temporal evolution of human crowds. We evaluate our approach against a state-of-the-art baseline for crowd navigation and ablations of our model to demonstrate that navigation with our approach is more efficient, results in fewer collisions, and avoids failure cases involving oscillatory and freezing behaviors.

Key facts. Cited by 42 papers in the map (data through 7 Oct 2026). First posted on arXiv 28 Sep 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 7; 2022: 6; 2023: 5; 2024: 12; 2025: 6; 2026: 6.

42 papers.

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  1. 2022Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graphcited by 46
  2. 2023Joint Metrics Matter: A Better Standard for Trajectory Forecastingcited by 17
  3. 2022Interaction Modeling with Multiplex Attentioncited by 14
  4. 2022Important Object Identification with Semi-Supervised Learning for Autonomous Drivingcited by 13
  5. 2025SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictionscited by 10
  6. 2024MATRIX: Multi-Agent Trajectory Generation with Diverse Contextscited by 9
  7. 2022Occlusion-Aware Crowd Navigation Using People as Sensorscited by 8
  8. 2024NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learningcited by 7
  9. 2024DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigationcited by 7
  10. 2024HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environmentscited by 6
  11. 2024Socially Integrated Navigation: A Social Acting Robot with Deep Reinforcement Learningcited by 5
  12. 2024Uncertainty-Aware DRL for Autonomous Vehicle Crowd Navigation in Shared Spacecited by 5
30 more
  1. 2021Robot Navigation in a Crowd by Integrating Deep Reinforcement Learning and Online Planningcited by 4
  2. 2021Enhancing Navigational Safety in Crowded Environments using Semantic-Deep-Reinforcement-Learning-based Navigationcited by 4
  3. 2022DMMGAN: Diverse Multi Motion Prediction of 3D Human Joints using Attention-Based Generative Adverserial Networkcited by 4
  4. 2024Attention Graph for Multi-Robot Social Navigation with Deep Reinforcement Learningcited by 4
  5. 2021A Graph Neural Network to Model Disruption in Human-Aware Robot Navigationcited by 3
  6. 2021Optimal Solving of Constrained Path-Planning Problems with Graph Convolutional Networks and Optimized Tree Searchcited by 3
  7. 2023SocNavGym: A Reinforcement Learning Gym for Social Navigationcited by 3
  8. 2023Exploring Social Motion Latent Space and Human Awareness for Effective Robot Navigation in Crowded Environmentscited by 2
  9. 2024Online Context Learning for Socially Compliant Navigationcited by 2
  10. 2024Stranger Danger! Identifying and Avoiding Unpredictable Pedestrians in RL-based Social Robot Navigationcited by 2
  11. 2024Context-aware Mamba-based Reinforcement Learning for social robot navigationcited by 2
  12. 2025COLSON: Controllable Learning-Based Social Navigation via Diffusion-Based Reinforcement Learningcited by 2
  13. 2025Socially aware navigation for mobile robots: a survey on deep reinforcement learning approachescited by 2
  14. 2026Crowd-FM: Learned Optimal Selection of Conditional Flow Matching-generated Trajectories for Crowd Navigationcited by 2
  15. 2021An advantage actor-critic algorithm for robotic motion planning in dense and dynamic scenarioscited by 1
  16. 2022Multi-subgoal Robot Navigation in Crowds with History Information and Interactionscited by 1
  17. 2023InCrowdFormer: On-Ground Pedestrian World Model From Egocentric Viewscited by 1
  18. 2023Hybrid of representation learning and reinforcement learning for dynamic and complex robotic motion planningcited by 1
  19. 2025HHI-Assist: A Dataset and Benchmark of Human-Human Interaction in Physical Assistance Scenariocited by 1
  20. 2021A review of motion planning algorithms for intelligent roboticscited by 0
  21. 2021Relative velocity-based reward functions for crowd navigation of robotscited by 0
  22. 2024Belief Aided Navigation using Bayesian Reinforcement Learning for Avoiding Humans in Blind Spotscited by 0
  23. 2024Navigating the Human Maze: Real-Time Robot Pathfinding with Generative Imitation Learningcited by 0
  24. 2025EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learningcited by 0
  25. 2025DRL-TH: Jointly Utilizing Temporal Graph Attention and Hierarchical Fusion for UGV Navigation in Crowded Environmentscited by 0
  26. 2026GIANT - Global Path Integration and Attentive Graph Networks for Multi-Agent Trajectory Planningcited by 0
  27. 2026Incremental Residual Reinforcement Learning Toward Real-World Learning for Social Navigationcited by 0
  28. 2026Learning-Based Motion Planning for Dynamic Environments: From Foundational Algorithms to Emerging Paradigmscited by 0
  29. 2026Diffusion Policies for Short-Horizon Planning in Robot Crowd Navigationcited by 0
  30. 2026SoGuDiff: Socially Guided Diffusion for Steerable, Norm-Grounded Robot Navigationcited by 0