{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/solo-t-dirl-socially-aware-dynamic-local","title":"SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning","arxiv_id":"2209.07996","date":"2022-09-16","proceeding":null,"authors":["Yifan Xu","Theodor Chakhachiro","Tribhi Kathuria","Maani Ghaffari"],"abstract":"This work proposes a new framework for a socially-aware dynamic local planner in crowded environments by building on the recently proposed Trajectory-ranked Maximum Entropy Deep Inverse Reinforcement Learning (T-MEDIRL). To address the social navigation problem, our multi-modal learning planner explicitly considers social interaction factors, as well as social-awareness factors into T-MEDIRL pipeline to learn a reward function from human demonstrations. Moreover, we propose a novel trajectory ranking score using the sudden velocity change of pedestrians around the robot to address the sub-optimality in human demonstrations. Our evaluation shows that this method can successfully make a robot navigate in a crowded social environment and outperforms the state-of-art social navigation methods in terms of the success rate, navigation time, and invasion rate.","url_abs":"https://arxiv.org/abs/2209.07996v1","url_pdf":"https://arxiv.org/pdf/2209.07996v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"solo-t-dirl-socially-aware-dynamic-local","repo_url":"https://github.com/umich-curly/fetch_irl","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"tf","reach":null}],"tasks":[{"task_slug":"navigate","task_name":"Navigate"},{"task_slug":"social-navigation","task_name":"Social Navigation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2209.07996","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}