Social-Navigation-Algorithm-Toolkit

A collection of social navigation algorithms with minimal examples, easy integration with external system.

Currently supported algorithms:

• CADRL
• Socialforce
• RVO
• and more.

Project Contributors

Sam Shum (cshum@andrew.cmu.edu) and Dr. Jean Oh

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Library Requirement and Suggested Version

• numpy (numpy==1.18.1)
• pytorch (torch==1.3.1)
• Python-RVO2 here

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Example Usage

python example_cadrl.py

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python example_rvo.py

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python example_socialforce.py

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References

Social LSTM
Alahi, A., Goel, K., Ramanathan, V., Robicquet, A., Fei-Fei, L., & Savarese, S. (2016). Social lstm: Human trajectory prediction in crowded spaces. In Proceedings of the IEEE conference on computer vision and pattern recognition (pp. 961-971).
link to paper

Social GAN
Gupta, A., Johnson, J., Fei-Fei, L., Savarese, S., & Alahi, A. (2018). Social gan: Socially acceptable trajectories with generative adversarial networks. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (pp. 2255-2264).
link to paper

Social Force Model
Helbing, D., & Molnar, P. (1995). Social force model for pedestrian dynamics. Physical review E, 51(5), 4282.
link to paper

ORCA (RVO2)
Snape, J., Guy, S. J., Van Den Berg, J., & Manocha, D. (2014). Smooth coordination and navigation for multiple differential-drive robots. In Experimental Robotics (pp. 601-613). Springer, Berlin, Heidelberg.
link to paper

Social-STGCNN Mohamed, A., Qian, K., Elhoseiny, M., & Claudel, C. (2020). Social-stgcnn: A social spatio-temporal graph convolutional neural network for human trajectory prediction. In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (pp. 14424-14432).
link to paper

Constant Velocity Model (CVM)
Schöller, C., Aravantinos, V., Lay, F., & Knoll, A. (2020). What the constant velocity model can teach us about pedestrian motion prediction. IEEE Robotics and Automation Letters, 5(2), 1696-1703.
link to paper

Social-PEC (SPEC)
Zhao, D., & Oh, J. (2020). Noticing Motion Patterns: Temporal CNN with a Novel Convolution Operator for Human Trajectory Prediction. IEEE Robotics and Automation Letters.
link to paper

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Implementation References

Social Force Implementation modified from here
Social LSTM Implementation modified from here
Social GAN Implementation modified from here
Social STGCNN Implementation modified from here
Constant Velocity Model modified from here
CADRL Implementation from here
RVO2 Implementation from here, here

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