A Toolkit to Generate Social Navigation Datasets

Rishabh Baghel, Aditya Kapoor, Pilar Bachiller, Ronit R. Jorvekar, Daniel Rodriguez-Criado, Luis J. Manso

    Research output: Chapter in Book/Published conference outputConference publication

    Abstract

    Social navigation datasets are necessary to assess social navigation algorithms and train machine learning algorithms. Most of the currently available datasets target pedestrians’ movements as a pattern to be replicated by robots. It can be argued that one of the main reasons for this to happen is that compiling datasets where real robots are manually controlled, as they would be expected to behave when moving, is a very resource-intensive task. Another aspect that is often missing in datasets is symbolic information that could be relevant, such as human activities, relationships or interactions. Unfortunately, the available datasets targeting robots and supporting symbolic information are restricted to static scenes. This paper argues that simulation can be used to gather social navigation data in an effective and cost-efficient way and presents a toolkit for this purpose. A use case studying the application of graph neural networks to create learned control policies using supervised learning is presented as an example of how it can be used.

    Original languageEnglish
    Title of host publicationAdvances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020
    EditorsLuis M. Bergasa, Manuel Ocaña, Rafael Barea, Elena López-Guillén, Pedro Revenga
    PublisherSpringer
    Pages180-193
    Number of pages14
    ISBN (Electronic)978-3-030-62579-5
    ISBN (Print)978-3-030-62578-8
    DOIs
    Publication statusPublished - 3 Nov 2020
    Event21st International Workshop of Physical Agents (WAF2020) - Madrid, Spain
    Duration: 19 Nov 202020 Nov 2020

    Publication series

    NameAdvances in Intelligent Systems and Computing
    Volume1285
    ISSN (Print)2194-5357
    ISSN (Electronic)2194-5365

    Conference

    Conference21st International Workshop of Physical Agents (WAF2020)
    Country/TerritorySpain
    CityMadrid
    Period19/11/2020/11/20

    Bibliographical note

    © 2020 The Authors

    Keywords

    • Navigation dataset
    • Robot simulation
    • Social navigation
    • Social robotics

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