Graph Neural Networks for Human-aware Social Navigation

Abstract

Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to comply with social rules, such as avoiding the personal spaces of the people surrounding them, or not getting in the way of human-to-human and human-to-object interactions. This paper suggests using Graph Neural Networks to model how inconvenient the presence of a robot would be in a particular scenario according to learned human conventions so that it can be used by path planning algorithms. To do so, we propose two automated scenario-to-graph transformations and benchmark them with different Graph Neural Networks using the SocNav1 dataset. We achieve close-to-human performance in the dataset and argue that, in addition to its promising results, the main advantage of the approach is its scalability in terms of the number of social factors that can be considered and easily embedded in code in comparison with model-based approaches. The code used to train and test the resulting graph neural network is available in a public repository.

Publication DOI: https://doi.org/10.1007/978-3-030-62579-5_12
Divisions: College of Engineering & Physical Sciences
College of Engineering & Physical Sciences > Systems analytics research institute (SARI)
Additional Information: © 2020 The Authors
Event Title: 21st International Workshop of Physical Agents (WAF2020)
Event Type: Other
Event Dates: 2020-11-19 - 2020-11-20
Uncontrolled Keywords: Graph Neural Networks,Human-robot interaction,Social navigation,Control and Systems Engineering,Computer Science(all)
ISBN: 978-3-030-62578-8, 978-3-030-62579-5
Last Modified: 18 Jun 2024 07:53
Date Deposited: 26 Nov 2020 13:49
Full Text Link: https://github. ... /robocomp/sngnn
https://arxiv.o ... /abs/1909.09003
Related URLs: https://link.sp ... -030-62579-5_12 (Publisher URL)
http://www.scop ... tnerID=8YFLogxK (Scopus URL)
PURE Output Type: Conference contribution
Published Date: 2020-11-03
Accepted Date: 2020-09-02
Authors: Manso, Luis J. (ORCID Profile 0000-0003-2616-1120)
Jorvekar, Ronit R.
Faria, Diego (ORCID Profile 0000-0002-2771-1713)
Bustos, Pablo
Bachiller, Pilar

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