Hyp2Nav: Hyperbolic Planning and Curiosity for Crowd Navigation

Abstract

Autonomous robots are increasingly becoming a strong fixture in social environments. Effective crowd navigation requires not only safe yet fast planning, but should also enable interpretability and computational efficiency for working in real-time on embedded devices. In this work, we advocate for hyperbolic learning to enable crowd navigation and we introduce Hyp<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup>Nav. Different from conventional reinforcement learning-based crowd navigation methods, Hyp<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup>Nav leverages the intrinsic properties of hyperbolic geometry to better encode the hierarchical nature of decision-making processes in navigation tasks. We propose a hyperbolic policy model and a hyperbolic curiosity module that results in effective social navigation, best success rates, and returns across multiple simulation settings, using up to 6 times fewer parameters than competitor state-of-the-art models. With our approach, it becomes even possible to obtain policies that work in 2-dimensional embedding spaces, opening up new possibilities for low-resource crowd navigation and model interpretability. Insightfully, the internal hyperbolic representation of Hyp<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup>Nav correlates with how much attention the robot pays to the surrounding crowds, e.g. due to multiple people occluding its pathway or to a few of them showing colliding plans, rather than to its own planned route. The code is available at https://github.com/GDam90/hyp2nav.