mlsanityData to 7 Oct 2026

Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graph

arXiv 2203.01821 ↗First posted 3 Mar 2022cs.RO cs.AI cs.LGcited by 46

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Abstract (arXiv)

We study the problem of safe and intention-aware robot navigation in dense and interactive crowds. Most previous reinforcement learning (RL) based methods fail to consider different types of interactions among all agents or ignore the intentions of people, which results in performance degradation. To learn a safe and efficient robot policy, we propose a novel recurrent graph neural network with attention mechanisms to capture heterogeneous interactions among agents through space and time. To encourage longsighted robot behaviors, we infer the intentions of dynamic agents by predicting their future trajectories for several timesteps. The predictions are incorporated into a model-free RL framework to prevent the robot from intruding into the intended paths of other agents. We demonstrate that our method enables the robot to achieve good navigation performance and non-invasiveness in challenging crowd navigation scenarios. We successfully transfer the policy learned in simulation to a real-world TurtleBot 2i. Our code and videos are available at https://sites.google.com/view/intention-aware-crowdnav/home.

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). Builds on 20 of its 32 references that are in the map. First posted on arXiv 3 Mar 2022.

Builds on

20 of 32 references.

References · 20

  1. 2017Attention Is All You Needcited by 59,932
  2. 2017Proximal Policy Optimization Algorithmscited by 14,441
  3. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  4. 2015Structural-RNN: Deep Learning on Spatio-Temporal Graphscited by 234
  5. 2017Social Attention: Modeling Attention in Human Crowdscited by 185
  6. 2018Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learningcited by 162
  7. 2017Socially Aware Motion Planning with Deep Reinforcement Learningcited by 128
  8. 2016Decentralized Non-communicating Multiagent Collision Avoidance with Deep Reinforcement Learningcited by 104
  9. 2018Motion Planning Among Dynamic, Decision-Making Agents with Deep Reinforcement Learningcited by 101
  10. 2017Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learningcited by 81
  11. 2019Relational Graph Learning for Crowd Navigationcited by 42
  12. 2019Social Attention for Autonomous Decision-Making in Dense Trafficcited by 39
8 more
  1. 2020Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learningcited by 36
  2. 2019Robot Navigation in Crowds by Graph Convolutional Networks with Attention Learned from Human Gazecited by 27
  3. 2020DenseCAvoid: Real-time Navigation in Dense Crowds using Anticipatory Behaviorscited by 25
  4. 2020DR-SPAAM: A Spatial-Attention and Auto-regressive Model for Person Detection in 2D Range Datacited by 18
  5. 2020Socially Aware Crowd Navigation with Multimodal Pedestrian Trajectory Prediction for Autonomous Vehiclescited by 14
  6. 2021Learning Sparse Interaction Graphs of Partially Detected Pedestrians for Trajectory Predictioncited by 10
  7. 2017Modeling Cooperative Navigation in Dense Human Crowdscited by 9
  8. 2020Path Planning in Dynamic Environments using Generative RNNs and Monte Carlo Tree Searchcited by 9

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 5; 2024: 14; 2025: 16; 2026: 11.

46 papers.

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  1. 2023CoMusion: Towards Consistent Stochastic Human Motion Prediction via Motion Diffusioncited by 21
  2. 2024Multi-Agent Dynamic Relational Reasoning for Social Robot Navigationcited by 20
  3. 2025Nonisotropic Gaussian Diffusion for Realistic 3D Human Motion Predictioncited by 12
  4. 2025SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictionscited by 10
  5. 2025SocialNav-SUB: Benchmarking VLMs for Scene Understanding in Social Robot Navigationcited by 10
  6. 2025Learning Coordinated Bimanual Manipulation Policies using State Diffusion and Inverse Dynamics Modelscited by 9
  7. 2024SoNIC: Safe Social Navigation with Adaptive Conformal Inference and Constrained Reinforcement Learningcited by 8
  8. 2024DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigationcited by 7
  9. 2025Multi-Agent LLM Actor-Critic Framework for Social Robot Navigationcited by 7
  10. 2024HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environmentscited by 6
  11. 2024Uncertainty-Aware DRL for Autonomous Vehicle Crowd Navigation in Shared Spacecited by 5
  12. 2025Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handlingcited by 5
34 more
  1. 2026From Obstacles to Etiquette: Robot Social Navigation with VLM-Informed Path Selectioncited by 5
  2. 2023ManiCast: Collaborative Manipulation with Cost-Aware Human Forecastingcited by 4
  3. 2024Attention Graph for Multi-Robot Social Navigation with Deep Reinforcement Learningcited by 4
  4. 2024Unifying Large Language Model and Deep Reinforcement Learning for Human-in-Loop Interactive Socially-aware Navigationcited by 4
  5. 2023SocNavGym: A Reinforcement Learning Gym for Social Navigationcited by 3
  6. 2024Transformable Gaussian Reward Function for Socially-Aware Navigation with Deep Reinforcement Learningcited by 3
  7. 2025ComposableNav: Instruction-Following Navigation in Dynamic Environments via Composable Diffusioncited by 3
  8. 2023Exploring Social Motion Latent Space and Human Awareness for Effective Robot Navigation in Crowded Environmentscited by 2
  9. 2024Stranger Danger! Identifying and Avoiding Unpredictable Pedestrians in RL-based Social Robot Navigationcited by 2
  10. 2024Context-aware Mamba-based Reinforcement Learning for social robot navigationcited by 2
  11. 2025COLSON: Controllable Learning-Based Social Navigation via Diffusion-Based Reinforcement Learningcited by 2
  12. 2025Ratatouille: Imitation Learning Ingredients for Real-world Social Robot Navigationcited by 2
  13. 2025Socially aware navigation for mobile robots: a survey on deep reinforcement learning approachescited by 2
  14. 2026EvoNav: Evolutionary Reward Function Design for Robot Navigation with Large Language Modelscited by 2
  15. 2024CoNav: A Benchmark for Human-Centered Collaborative Navigationcited by 1
  16. 2024MarineFormer: A Spatio-Temporal Attention Model for USV Navigation in Dynamic Marine Environmentscited by 1
  17. 2025Characterizing the Robustness of Black-Box LLM Planners Under Perturbed Observations with Adaptive Stress Testingcited by 1
  18. 2025Casper: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Modelscited by 1
  19. 2025Pedestrian Intention and Trajectory Prediction in Unstructured Traffic Using IDD-PeDcited by 1
  20. 2023Robot Crowd Navigation in Dynamic Environment with Offline Reinforcement Learningcited by 0
  21. 2024Belief Aided Navigation using Bayesian Reinforcement Learning for Avoiding Humans in Blind Spotscited by 0
  22. 2024Structured Graph Network for Constrained Robot Crowd Navigation with Low Fidelity Simulationcited by 0
  23. 2025ColorDynamic: Generalizable, Scalable, Real-time, End-to-end Local Planner for Unstructured and Dynamic Environmentscited by 0
  24. 2025Perspective-Shifted Neuro-Symbolic World Models: A Framework for Socially-Aware Robot Navigationcited by 0
  25. 2025Future-Oriented Navigation: Dynamic Obstacle Avoidance with One-Shot Energy-Based Multimodal Motion Predictioncited 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. 2026Vision-Language Models for Deployable Social Robot Navigation: Bridging Semantic Reasoning and Low-Level Controlcited by 0
  29. 2026ACME: A Multi-Cultural, Multi-Embodiment Social-Navigation Datasetcited by 0
  30. 2026Towards Socially Compliant Navigation in Deep Reinforcement Learning via Proxemics-Based Reward Modelingcited by 0
  31. 2026Diffusion Policies for Short-Horizon Planning in Robot Crowd Navigationcited by 0
  32. 2026PRISM: Predictive Representation of Interaction Style and Motion for Social Robot Navigationcited by 0
  33. 2026MTF-Net: Multi-Modal Temporal Feature Fusion Network for Pedestrian Intention Predictioncited by 0
  34. 2026Learning Social Navigation from Internet Videos in the Policy State Spacecited by 0