DRL-TH: Jointly Utilizing Temporal Graph Attention and Hierarchical Fusion for UGV Navigation in Crowded Environments

Fuente: arXiv

Guardado en:

Detalles Bibliográficos
Autores principales:	Li, Ruitong, Zhang, Lin, Zhao, Yuenan, Liu, Chengxin, Song, Ran, Zhang, Wei
Formato:	Preprint
Publicado:	2025
Materias:	Robotics Artificial Intelligence
Acceso en línea:	Acceder al recurso
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

Ejemplares similares

Uncertainty-Aware DRL for Autonomous Vehicle Crowd Navigation in Shared Space
por: Golchoubian, Mahsa, et al.
Publicado: (2024)

HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environments
por: Liu, Shuijing, et al.
Publicado: (2024)

Learning Crowd Behaviors in Navigation with Attention-based Spatial-Temporal Graphs
por: Zhou, Yanying, et al.
Publicado: (2024)

MarineFormer: A Spatio-Temporal Attention Model for USV Navigation in Dynamic Marine Environments
por: Kazemi, Ehsan, et al.
Publicado: (2024)

Structured Graph Network for Constrained Robot Crowd Navigation with Low Fidelity Simulation
por: Liu, Shuijing, et al.
Publicado: (2024)

MeSA-DRL: Memory-Enhanced Deep Reinforcement Learning for Advanced Socially Aware Robot Navigation in Crowded Environments
por: Muhammad, Mannan Saeed, et al.
Publicado: (2024)

FH-DRL: Exponential-Hyperbolic Frontier Heuristics with DRL for accelerated Exploration in Unknown Environments
por: Nam, Seunghyeop, et al.
Publicado: (2024)

HeR-DRL:Heterogeneous Relational Deep Reinforcement Learning for Decentralized Multi-Robot Crowd Navigation
por: Zhou, Xinyu, et al.
Publicado: (2024)

Local Minima Prediction using Dynamic Bayesian Filtering for UGV Navigation in Unstructured Environments
por: Lee, Seung Hun, et al.
Publicado: (2025)

Learning Strategies For Successful Crowd Navigation
por: Daulatabad, Rajshree, et al.
Publicado: (2024)

Hierarchical Learning-Enhanced MPC for Safe Crowd Navigation with Heterogeneous Constraints
por: Liu, Huajian, et al.
Publicado: (2025)

NavG: Risk-Aware Navigation in Crowded Environments Based on Reinforcement Learning with Guidance Points
por: Zhang, Qianyi, et al.
Publicado: (2025)

HiCrowd: Hierarchical Crowd Flow Alignment for Dense Human Environments
por: Zhu, Yufei, et al.
Publicado: (2026)

Hierarchical Audio-Visual-Proprioceptive Fusion for Precise Robotic Manipulation
por: Li, Siyuan, et al.
Publicado: (2026)

Don't Freeze, Don't Crash: Extending the Safe Operating Range of Neural Navigation in Dense Crowds
por: Zhang, Jiefu, et al.
Publicado: (2026)

Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learning
por: Liu, Shuijing, et al.
Publicado: (2020)

Dynamic UGV-UAV Cooperative Path Planning in Uncertain Environments
por: Nguyen, Ninh, et al.
Publicado: (2026)

Attention Graph for Multi-Robot Social Navigation with Deep Reinforcement Learning
por: Escudie, Erwan, et al.
Publicado: (2024)

CityNavAgent: Aerial Vision-and-Language Navigation with Hierarchical Semantic Planning and Global Memory
por: Zhang, Weichen, et al.
Publicado: (2025)

SHINE: Social Homology Identification for Navigation in Crowded Environments
por: Martinez-Baselga, Diego, et al.
Publicado: (2024)

Hi-Dyna Graph: Hierarchical Dynamic Scene Graph for Robotic Autonomy in Human-Centric Environments
por: Hou, Jiawei, et al.
Publicado: (2025)

Real-DRL: Teach and Learn in Reality
por: Mao, Yanbing, et al.
Publicado: (2025)

Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning
por: Chen, Changan, et al.
Publicado: (2018)

On the Benefits of Robot Platooning for Navigating Crowded Environments
por: Argote-Gerald, Jahir, et al.
Publicado: (2024)

Interactive Navigation in Environments with Traversable Obstacles Using Large Language and Vision-Language Models
por: Zhang, Zhen, et al.
Publicado: (2023)

Tangled Program Graphs as an alternative to DRL-based control algorithms for UAVs
por: Szolc, Hubert, et al.
Publicado: (2024)

Hierarchical Language Models for Semantic Navigation and Manipulation in an Aerial-Ground Robotic System
por: Liu, Haokun, et al.
Publicado: (2025)

Free Energy-Inspired Cognitive Risk Integration for AV Navigation in Pedestrian-Rich Environments
por: Dang, Meiting, et al.
Publicado: (2025)

Long-distance Geomagnetic Navigation in GNSS-denied Environments with Deep Reinforcement Learning
por: Bai, Wenqi, et al.
Publicado: (2024)

GustPilot: A Hierarchical DRL-INDI Framework for Wind-Resilient Quadrotor Navigation
por: Habel, Amir Atef, et al.
Publicado: (2026)

Learning Dynamic Weight Adjustment for Spatial-Temporal Trajectory Planning in Crowd Navigation
por: Cao, Muqing, et al.
Publicado: (2024)

Open-Vocabulary Spatio-Temporal Scene Graph for Robot Perception and Teleoperation Planning
por: Wang, Yi, et al.
Publicado: (2025)

Decomposition-based Hierarchical Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
por: Luo, Xusheng, et al.
Publicado: (2023)

Model Predictive Control for Crowd Navigation via Learning-Based Trajectory Prediction
por: Aslam, Mohamed Parvez, et al.
Publicado: (2025)

E(2)-Equivariant Graph Planning for Navigation
por: Zhao, Linfeng, et al.
Publicado: (2023)

SeqWalker: Sequential-Horizon Vision-and-Language Navigation with Hierarchical Planning
por: Han, Zebin, et al.
Publicado: (2026)

HyPerNav: Hybrid Perception for Object-Oriented Navigation in Unknown Environment
por: Yin, Zecheng, et al.
Publicado: (2025)

BIM-Discrepancy-Driven Active Sensing for Risk-Aware UAV-UGV Navigation
por: Mojtahedi, Hesam, et al.
Publicado: (2025)

Beyond Visibility Limits: A DRL-Based Navigation Strategy for Unexpected Obstacles
por: Tan, Mingao, et al.
Publicado: (2025)

SkeNa: Learning to Navigate Unseen Environments Based on Abstract Hand-Drawn Maps
por: Xu, Haojun, et al.
Publicado: (2025)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"es"
ui	"standard"
VUFIND_SESSION	"6fecb7c15b412cf4353741a5ef93f8cf"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790846149.2883 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "6fecb7c15b412cf4353741a5ef93f8cf" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=es; ui=standard; VUFIND_SESSION=6fecb7c15b412cf4353741a5ef93f8cf"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.216.147"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"8994"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2512_24284/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2512_24284/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790846149.2789
REQUEST_TIME	1790846149

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler