notesum.ai

Published at November 19

HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environments

cs.RO

cs.AI

Released Date: November 19, 2024

Authors: Shuijing Liu¹, Haochen Xia¹, Fatemeh Cheraghi Pouria¹, Kaiwen Hong¹, Neeloy Chakraborty¹, Katherine Driggs-Campbell¹

Aff.: ¹Institution not provided

Arxiv: http://arxiv.org/abs/2411.12150v1

Environment	Method	Success $\uparrow$	Collision $\downarrow$			Timeout $\downarrow$	Nav Time $\downarrow$	Path Len $\downarrow$
Environment	Method	Success $\uparrow$	Overall	w/ Humans	w/ Obstacles	Timeout $\downarrow$	Nav Time $\downarrow$	Path Len $\downarrow$
Training distribution 5-9 humans 8-12 obstacles	DWA [1]	0.16	0.68	0.63	0.05	0.15	28.45	11.52
	$\textrm{A}^{*}$ + CNN [7]	0.64	0.29	0.28	0.01	0.07	25.72	12.30
	DS-RNN [8]	0.80	0.20	0.11	0.09	0.00	19.90	10.78
	HomoGAT [44]	0.86	0.14	0.13	0.01	0.00	18.66	10.36
	HEIGHT (ours)	0.88	0.12	0.09	0.03	0.00	18.31	10.34
Less crowded 0-4 humans 8-12 obstacles	DWA [1]	0.29	0.37	0.28	0.09	0.34	25.74	14.42
	$\textrm{A}^{*}$ + CNN [7]	0.84	0.12	0.11	0.01	0.04	22.64	11.73
	DS-RNN [8]	0.72	0.28	0.07	0.21	0.00	17.21	9.56
	HomoGAT [44]	0.95	0.05	0.03	0.02	0.00	16.64	10.17
	HEIGHT (ours)	0.97	0.03	0.02	0.01	0.00	16.32	10.04
More crowded 10-14 humans 8-12 obstacles	DWA [1]	0.11	0.78	0.74	0.04	0.11	29.60	10.37
	$\textrm{A}^{*}$ + CNN [7]	0.47	0.42	0.39	0.03	0.11	27.33	12.47
	DS-RNN [8]	0.76	0.22	0.16	0.06	0.01	23.08	11.67
	HomoGAT [44]	0.72	0.28	0.23	0.05	0.00	20.46	10.57
	HEIGHT (ours)	0.78	0.22	0.19	0.03	0.00	19.69	10.39
Less constrained 5-9 humans 3-7 obstacles	DWA [1]	0.17	0.57	0.55	0.02	0.26	28.50	14.21
	$\textrm{A}^{*}$ + CNN [7]	0.66	0.29	0.28	0.01	0.05	23.63	11.98
	DS-RNN [8]	0.66	0.34	0.20	0.14	0.00	18.01	9.76
	HomoGAT [44]	0.88	0.12	0.10	0.02	0.00	17.66	10.37
	HEIGHT (ours)	0.90	0.10	0.09	0.01	0.00	17.20	10.23
More constrained 5-9 humans 13-17 obstacles	DWA [1]	0.14	0.66	0.49	0.17	0.20	30.47	11.35
	$\textrm{A}^{*}$ + CNN [7]	0.48	0.29	0.23	0.06	0.23	27.28	13.11
	DS-RNN [8]	0.71	0.23	0.09	0.14	0.06	23.45	11.58
	HomoGAT [44]	0.80	0.20	0.11	0.09	0.00	19.20	10.51
	HEIGHT (ours)	0.84	0.15	0.07	0.08	0.01	18.79	10.65