{"paper":{"title":"Dynamically Feasible Deep Reinforcement Learning Policy for Robot Navigation in Dense Mobile Crowds","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Adarsh Jagan Sathyamoorthy, Dinesh Manocha, Nithish Kumar, Utsav Patel","submitted_at":"2020-10-28T09:21:56Z","abstract_excerpt":"We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window Approach (DWA) in terms of satisfying the robot's dynamics constraints with state-of-the-art DRL-based navigation methods that can handle moving obstacles and pedestrians well. Our formulation achieves these goals by embedding the environmental obstacles' motions in a novel low-dimensional observation space. It also uses a novel reward function to positively reinfo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.14838","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2010.14838/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}