Predictive World Models for Social Navigation

Abstract

As robots begin to coexist with humans, the need for efficient and safe social robot navigation becomes increasingly pressing. In this paper we investigate how world models can enhance the effectiveness of reinforcement learning in social navigation tasks. We introduce three approaches that leverage predictive world models, which are then benchmarked against state-of-the-art algorithms. For a comprehensive and reliable evaluation, we employed multiple metrics during the training and testing phases. The key novelty of our approach consists in the integration and evaluation of predictive world models within the context of social navigation, as well as in the models themselves. Based on a diverse set of performance metrics, the experimental results provide evidence that predictive world models help improve reinforcement learning techniques for social navigation.