Multi-Agent Inverse Reinforcement Learning in Real World Unstructured Pedestrian Crowds

TL;DR

This paper introduces a multi-agent inverse reinforcement learning algorithm tailored for dense, unstructured pedestrian crowds, enabling better understanding of human intent in complex social interactions for robot navigation.

Contribution

The paper proposes a novel tractability-rationality trade-off trick for multi-agent IRL, improving computational feasibility in real-world crowded scenarios.

Findings

Outperforms single-agent IRL with >2X improvement on dense Speedway dataset.

Ranks 1st among top 7 baselines on Speedway dataset.

Competitive with state-of-the-art transformer models on sparser datasets.

Abstract

Social robot navigation in crowded public spaces such as university campuses, restaurants, grocery stores, and hospitals, is an increasingly important area of research. One of the core strategies for achieving this goal is to understand humans' intent--underlying psychological factors that govern their motion--by learning their reward functions, typically via inverse reinforcement learning (IRL). Despite significant progress in IRL, learning reward functions of multiple agents simultaneously in dense unstructured pedestrian crowds has remained intractable due to the nature of the tightly coupled social interactions that occur in these scenarios \textit{e.g.} passing, intersections, swerving, weaving, etc. In this paper, we present a new multi-agent maximum entropy inverse reinforcement learning algorithm for real world unstructured pedestrian crowds. Key to our approach is a simple, but effective, mathematical trick which we name the so-called tractability-rationality trade-off trick that achieves tractability at the cost of a slight reduction in accuracy. We compare our approach to the classical single-agent MaxEnt IRL as well as state-of-the-art trajectory prediction methods on several datasets including the ETH, UCY, SCAND, JRDB, and a new dataset, called Speedway, collected at a busy intersection on a University campus focusing on dense, complex agent interactions. Our key findings show that, on the dense Speedway dataset, our approach ranks 1st among top 7 baselines with >2X improvement over single-agent IRL, and is competitive with state-of-the-art large transformer-based encoder-decoder models on sparser datasets such as ETH/UCY (ranks 3rd among top 7 baselines).