Enhancing Robot Navigation in Crowded Spaces Through Systematic Strategy Selection
Bibliographic record
Abstract
This paper presents a framework for the online selection of autonomous navigation strategies in real-time for robots operating in crowded and dynamic environments. Traditional path-planning algorithms emphasize the computation of collision-free trajectories but may not account for more complex safety considerations that arise specifically when navigating around humans or other dynamic entities. To address these challenges, we propose a framework that evaluates a set of navigation strategies trained with deep reinforcement learning and selects the optimal strategy based on various metrics including safety, motion efficiency, and adaptability to changing scenarios. On one hand, the navigation strategies are trained using a reward function that incorporates objective metrics such as obstacle clearance and distance to the goal. On the other hand, the online evaluation of the strategies leverages a variety of additional performance metrics such as personal space intrusion, smoothness of path, control stability, and overall efficiency of control commands. The framework dynamically switches strategies to optimize navigation performance while balancing safety with control and path optimality. Simulated results show that the online selection of strategies can accomplish safer and more efficient navigation. Experimental results in real-world demonstrate the benefits of our approach, showing improved adaptability and context-aware decision-making compared to single-strategy navigation.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".