Intrinsic-Motivation Multi-Robot Social Formation Navigation with Coordinated Exploration
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866915678001299456 |
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| author | Fu, Hao Liu, Wei Zhou, Shuai |
| author_facet | Fu, Hao Liu, Wei Zhou, Shuai |
| contents | This paper investigates the application of reinforcement learning (RL) to multi-robot social formation navigation, a critical capability for enabling seamless human-robot coexistence. While RL offers a promising paradigm, the inherent unpredictability and often uncooperative dynamics of pedestrian behavior pose substantial challenges, particularly concerning the efficiency of coordinated exploration among robots. To address this, we propose a novel coordinated-exploration multi-robot RL algorithm introducing an intrinsic motivation exploration. Its core component is a self-learning intrinsic reward mechanism designed to collectively alleviate policy conservatism. Moreover, this algorithm incorporates a dual-sampling mode within the centralized training and decentralized execution framework to enhance the representation of both the navigation policy and the intrinsic reward, leveraging a two-time-scale update rule to decouple parameter updates. Empirical results on social formation navigation benchmarks demonstrate the proposed algorithm's superior performance over existing state-of-the-art methods across crucial metrics. Our code and video demos are available at: https://github.com/czxhunzi/CEMRRL. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_13293 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Intrinsic-Motivation Multi-Robot Social Formation Navigation with Coordinated Exploration Fu, Hao Liu, Wei Zhou, Shuai Robotics Artificial Intelligence This paper investigates the application of reinforcement learning (RL) to multi-robot social formation navigation, a critical capability for enabling seamless human-robot coexistence. While RL offers a promising paradigm, the inherent unpredictability and often uncooperative dynamics of pedestrian behavior pose substantial challenges, particularly concerning the efficiency of coordinated exploration among robots. To address this, we propose a novel coordinated-exploration multi-robot RL algorithm introducing an intrinsic motivation exploration. Its core component is a self-learning intrinsic reward mechanism designed to collectively alleviate policy conservatism. Moreover, this algorithm incorporates a dual-sampling mode within the centralized training and decentralized execution framework to enhance the representation of both the navigation policy and the intrinsic reward, leveraging a two-time-scale update rule to decouple parameter updates. Empirical results on social formation navigation benchmarks demonstrate the proposed algorithm's superior performance over existing state-of-the-art methods across crucial metrics. Our code and video demos are available at: https://github.com/czxhunzi/CEMRRL. |
| title | Intrinsic-Motivation Multi-Robot Social Formation Navigation with Coordinated Exploration |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2512.13293 |