Intrinsic-Motivation Multi-Robot Social Formation Navigation with Coordinated Exploration

摘要

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.