Title: A Generative Approach for Socially Compliant Navigation

Abstract: Robots navigating in human crowds need to optimize their paths not only for the efficiency of their tasks performance but also for the compliance to social norms. One of the key challenges in this context is due to the lack of suitable metrics for evaluating and optimizing a socially compliant behavior. In this work, we propose NaviGAN, a generative navigation algorithm in an adversarial training framework that learns to generate a navigation path that is both optimized for achieving a goal and for complying with latent social rules. The proposed approach is highly explainable and demonstrates superior quantitative performance in sets of experiments. We also demonstrates qualitative performance on a ClearPath Husky robot.

Committee:

Dr. Jean Oh (advisor)

Dr. Luis Navarro-Serment

Anirudh Vemula