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In addition to low light, night images suffer degradation from light effects (e.g., glare, floodlight, etc). However, existing nighttime visibility enhancement methods generally focus on low-light regions, which neglects, or even amplifies the light effects. To address this issue, we propose an Adaptive Multi-scale Fusion network (AMFusion) with infrared and visible images, which designs fusion rules according to different illumination regions. First, we separately fuse spatial and semantic features from infrared and visible images, where the former are used for the adjustment of light distribution and the latter are used for the improvement of detection accuracy. Thereby, we obtain an image free of low light and light effects, which improves the performance of nighttime object detection. Second, we utilize detection features extracted by a pre-trained backbone that guide the fusion of semantic features. Hereby, we design a Detection-guided Semantic Fusion Module (DSFM) to bridge the domain gap between detection and semantic features. Third, we propose a new illumination loss to constrain fusion image with normal light intensity. Experimental results demonstrate the superiority of AMFusion with better visual quality and detection accuracy. The source code will be released after the peer review process.

Event cameras, or dynamic vision sensors, have recently achieved success from fundamental vision tasks to high-level vision researches. Due to its ability to asynchronously capture light intensity changes, event camera has an inherent advantage to capture moving objects in challenging scenarios including objects under low light, high dynamic range, or fast moving objects. Thus event camera are natural for visual object tracking. However, the current event-based trackers derived from RGB trackers simply modify the input images to event frames and still follow conventional tracking pipeline that mainly focus on object texture for target distinction. As a result, the trackers may not be robust dealing with challenging scenarios such as moving cameras and cluttered foreground. In this paper, we propose a distractor-aware event-based tracker that introduces transformer modules into Siamese network architecture (named DANet). Specifically, our model is mainly composed of a motion-aware network and a target-aware network, which simultaneously exploits both motion cues and object contours from event data, so as to discover motion objects and identify the target object by removing dynamic distractors. Our DANet can be trained in an end-to-end manner without any post-processing and can run at over 80 FPS on a single V100. We conduct comprehensive experiments on two large event tracking datasets to validate the proposed model. We demonstrate that our tracker has superior performance against the state-of-the-art trackers in terms of both accuracy and efficiency.

Amidst the swift advancements in photography and sensor technologies, high-definition cameras have become commonplace in the deployment of Unmanned Aerial Vehicles (UAVs) for diverse operational purposes. Within the domain of UAV imagery analysis, the segmentation of ultra-high resolution images emerges as a substantial and intricate challenge, especially when grappling with the constraints imposed by GPU memory-restricted computational devices. This paper delves into the intricate problem of achieving efficient and effective segmentation of ultra-high resolution UAV imagery, while operating under stringent GPU memory limitation. The strategy of existing approaches is to downscale the images to achieve computationally efficient segmentation. However, this strategy tends to overlook smaller, thinner, and curvilinear regions. To address this problem, we propose a GPU memory-efficient and effective framework for local inference without accessing the context beyond local patches. In particular, we introduce a novel spatial-guided high-resolution query module, which predicts pixel-wise segmentation results with high quality only by querying nearest latent embeddings with the guidance of high-resolution information. Additionally, we present an efficient memory-based interaction scheme to correct potential semantic bias of the underlying high-resolution information by associating cross-image contextual semantics. For evaluation of our approach, we perform comprehensive experiments over public benchmarks and achieve superior performance under both conditions of small and large GPU memory usage limitations. We will release the model and codes in the future.

Most existing RGB-based trackers target low frame rate benchmarks of around 30 frames per second. This setting restricts the tracker's functionality in the real world, especially for fast motion. Event-based cameras as bioinspired sensors provide considerable potential for high frame rate tracking due to their high temporal resolution. However, event-based cameras cannot offer fine-grained texture information like conventional cameras. This unique complementarity motivates us to combine conventional frames and events for high frame rate object tracking under various challenging conditions. Inthispaper, we propose an end-to-end network consisting of multi-modality alignment and fusion modules to effectively combine meaningful information from both modalities at different measurement rates. The alignment module is responsible for cross-style and cross-frame-rate alignment between frame and event modalities under the guidance of the moving cues furnished by events. While the fusion module is accountable for emphasizing valuable features and suppressing noise information by the mutual complement between the two modalities. Extensive experiments show that the proposed approach outperforms state-of-the-art trackers by a significant margin in high frame rate tracking. With the FE240hz dataset, our approach achieves high frame rate tracking up to 240Hz.

Synthesizing novel views from a single view image is a highly ill-posed problem. We discover an effective solution to reduce the learning ambiguity by expanding the single-view view synthesis problem to a multi-view setting. Specifically, we leverage the reliable and explicit stereo prior to generate a pseudo-stereo viewpoint, which serves as an auxiliary input to construct the 3D space. In this way, the challenging novel view synthesis process is decoupled into two simpler problems of stereo synthesis and 3D reconstruction. In order to synthesize a structurally correct and detail-preserved stereo image, we propose a self-rectified stereo synthesis to amend erroneous regions in an identify-rectify manner. Hard-to-train and incorrect warping samples are first discovered by two strategies, 1) pruning the network to reveal low-confident predictions; and 2) bidirectionally matching between stereo images to allow the discovery of improper mapping. These regions are then inpainted to form the final pseudo-stereo. With the aid of this extra input, a preferable 3D reconstruction can be easily obtained, and our method can work with arbitrary 3D representations. Extensive experiments show that our method outperforms state-of-the-art single-view view synthesis methods and stereo synthesis methods.

HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation separately, which often causes distortion and missing content. To push the limits of the technology, we present a novel framework that reconstructs a local map formed by road layout and vehicle occupancy in the bird's-eye view given a front-view monocular image only. We propose a front-to-top view projection (FTVP) module, which takes the constraint of cycle consistency between views into account and makes full use of their correlation to strengthen the view transformation and scene understanding. In addition, we also apply multi-scale FTVP modules to propagate the rich spatial information of low-level features to mitigate spatial deviation of the predicted object location. Experiments on public benchmarks show that our method achieves the state-of-the-art performance in the tasks of road layout estimation, vehicle occupancy estimation, and multi-class semantic estimation. For multi-class semantic estimation, in particular, our model outperforms all competitors by a large margin. Furthermore, our model runs at 25 FPS on a single GPU, which is efficient and applicable for real-time panorama HD map reconstruction., Comment: Extension to CVPR'21 paper "Projecting Your View Attentively: Monocular Road Scene Layout Estimation via Cross-View Transformation"

Deep reinforcement learning has achieved great success in laser-based collision avoidance works because the laser can sense accurate depth information without too much redundant data, which can maintain the robustness of the algorithm when it is migrated from the simulation environment to the real world. However, high-cost laser devices are not only difficult to deploy for a large scale of robots but also demonstrate unsatisfactory robustness towards the complex obstacles, including irregular obstacles, e.g., tables, chairs, and shelves, as well as complex ground and special materials. In this paper, we propose a novel monocular camera-based complex obstacle avoidance framework. Particularly, we innovatively transform the captured RGB images to pseudo-laser measurements for efficient deep reinforcement learning. Compared to the traditional laser measurement captured at a certain height that only contains one-dimensional distance information away from the neighboring obstacles, our proposed pseudo-laser measurement fuses the depth and semantic information of the captured RGB image, which makes our method effective for complex obstacles. We also design a feature extraction guidance module to weight the input pseudo-laser measurement, and the agent has more reasonable attention for the current state, which is conducive to improving the accuracy and efficiency of the obstacle avoidance policy., Comment: arXiv admin note: substantial text overlap with arXiv:2108.06887

Crowd image is arguably one of the most laborious data to annotate. In this paper, we devote to reduce the massive demand of densely labeled crowd data, and propose a novel weakly-supervised setting, in which we leverage the binary ranking of two images with high-contrast crowd counts as training guidance. To enable training under this new setting, we convert the crowd count regression problem to a ranking potential prediction problem. In particular, we tailor a Siamese Ranking Network that predicts the potential scores of two images indicating the ordering of the counts. Hence, the ultimate goal is to assign appropriate potentials for all the crowd images to ensure their orderings obey the ranking labels. On the other hand, potentials reveal the relative crowd sizes but cannot yield an exact crowd count. We resolve this problem by introducing "anchors" during the inference stage. Concretely, anchors are a few images with count labels used for referencing the corresponding counts from potential scores by a simple linear mapping function. We conduct extensive experiments to study various combinations of supervision, and we show that the proposed method outperforms existing weakly-supervised methods without additional labeling effort by a large margin.

In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is unknown and unobservable, while only one of its samples can be applied for supervising model learning, which is prone to bias. Most recent works focus on predicting diverse trajectories in order to cover all modes of the real distribution, but they may despise the precision and thus give too much credit to unrealistic predictions. To address the issue, we learn the distribution with symmetric cross-entropy using occupancy grid maps as an explicit and scene-compliant approximation to the ground-truth distribution, which can effectively penalize unlikely predictions. In specific, we present an inverse reinforcement learning based multi-modal trajectory distribution forecasting framework that learns to plan by an approximate value iteration network in an end-to-end manner. Besides, based on the predicted distribution, we generate a small set of representative trajectories through a differentiable Transformer-based network, whose attention mechanism helps to model the relations of trajectories. In experiments, our method achieves state-of-the-art performance on the Stanford Drone Dataset and Intersection Drone Dataset., Comment: CVPR2022

Domain Generalization (DG) aims to generalize a model trained on multiple source domains to an unseen target domain. The source domains always require precise annotations, which can be cumbersome or even infeasible to obtain in practice due to the vast amount of data involved. Web data, however, offers an opportunity to access large amounts of unlabeled data with rich style information, which can be leveraged to improve DG. From this perspective, we introduce a novel paradigm of DG, termed as Semi-Supervised Domain Generalization (SSDG), to explore how the labeled and unlabeled source domains can interact, and establish two settings, including the close-set and open-set SSDG. The close-set SSDG is based on existing public DG datasets, while the open-set SSDG, built on the newly-collected web-crawled datasets, presents a novel yet realistic challenge that pushes the limits of current technologies. A natural approach of SSDG is to transfer knowledge from labeled data to unlabeled data via pseudo labeling, and train the model on both labeled and pseudo-labeled data for generalization. Since there are conflicting goals between domain-oriented pseudo labeling and out-of-domain generalization, we develop a pseudo labeling phase and a generalization phase independently for SSDG. Unfortunately, due to the large domain gap, the pseudo labels provided in the pseudo labeling phase inevitably contain noise, which has negative affect on the subsequent generalization phase. Therefore, to improve the quality of pseudo labels and further enhance generalizability, we propose a cyclic learning framework to encourage a positive feedback between these two phases, utilizing an evolving intermediate domain that bridges the labeled and unlabeled domains in a curriculum learning manner..., Comment: 13 pages, 13 figures

Ultra-high resolution image segmentation has raised increasing interests in recent years due to its realistic applications. In this paper, we innovate the widely used high-resolution image segmentation pipeline, in which an ultra-high resolution image is partitioned into regular patches for local segmentation and then the local results are merged into a high-resolution semantic mask. In particular, we introduce a novel locality-aware context fusion based segmentation model to process local patches, where the relevance between local patch and its various contexts are jointly and complementarily utilized to handle the semantic regions with large variations. Additionally, we present the alternating local enhancement module that restricts the negative impact of redundant information introduced from the contexts, and thus is endowed with the ability of fixing the locality-aware features to produce refined results. Furthermore, in comprehensive experiments, we demonstrate that our model outperforms other state-of-the-art methods in public benchmarks. Our released codes are available at: https://github.com/liqiokkk/FCtL., Comment: Extension of ICCV 2021 "From Contexts to Locality: Ultra-high Resolution Image Segmentation via Locality-aware Contextual Correlation"

Deep reinforcement learning has achieved great success in laser-based collision avoidance work because the laser can sense accurate depth information without too much redundant data, which can maintain the robustness of the algorithm when it is migrated from the simulation environment to the real world. However, high-cost laser devices are not only difficult to apply on a large scale but also have poor robustness to irregular objects, e.g., tables, chairs, shelves, etc. In this paper, we propose a vision-based collision avoidance framework to solve the challenging problem. Our method attempts to estimate the depth and incorporate the semantic information from RGB data to obtain a new form of data, pseudo-laser data, which combines the advantages of visual information and laser information. Compared to traditional laser data that only contains the one-dimensional distance information captured at a certain height, our proposed pseudo-laser data encodes the depth information and semantic information within the image, which makes our method more effective for irregular obstacles. Besides, we adaptively add noise to the laser data during the training stage to increase the robustness of our model in the real world, due to the estimated depth information is not accurate. Experimental results show that our framework achieves state-of-the-art performance in several unseen virtual and real-world scenarios., Comment: IROS 2021

Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all troubles: they negatively affect the sensing of static scene landmarks and must be actively avoided for safety. In this paper, we provide a new perspective: the crowd flow locally observed can be treated as a sensory measurement about the surrounding scenario, encoding not only the scene's traversability but also its social navigation preference. We demonstrate that even using the crowd-flow measurement alone without any sensing about static obstacles, our method still accomplishes good results for mapping, localization, and social-aware planning in dense crowds. Videos of the experiments are available at https://sites.google.com/view/crowdmapping., Comment: Accepted to ISER 2020

In the era of big data, a large number of text data generated by the Internet has given birth to a variety of text representation methods. In natural language processing (NLP), text representation transforms text into vectors that can be processed by computer without losing the original semantic information. However, these methods are difficult to effectively extract the semantic features among words and distinguish polysemy in language. Therefore, a text feature representation model based on convolutional neural network (CNN) and variational autoencoder (VAE) is proposed to extract the text features and apply the obtained text feature representation on the text classification tasks. CNN is used to extract the features of text vector to get the semantics among words and VAE is introduced to make the text feature space more consistent with Gaussian distribution. In addition, the output of the improved word2vec model is employed as the input of the proposed model to distinguish different meanings of the same word in different contexts. The experimental results show that the proposed model outperforms in k-nearest neighbor (KNN), random forest (RF) and support vector machine (SVM) classification algorithms.

We propose an unsupervised learning framework with the pretext task of finding dense correspondences between point cloud shapes from the same category based on the cycle-consistency formulation. In order to learn discriminative pointwise features from point cloud data, we incorporate in the formulation a regularization term based on Sinkhorn normalization to enhance the learned pointwise mappings to be as bijective as possible. Besides, a random rigid transform of the source shape is introduced to form a triplet cycle to improve the model's robustness against perturbations. Comprehensive experiments demonstrate that the learned pointwise features through our framework benefits various point cloud analysis tasks, e.g. partial shape registration and keypoint transfer. We also show that the learned pointwise features can be leveraged by supervised methods to improve the part segmentation performance with either the full training dataset or just a small portion of it., Comment: Accepted to ECCV2020

Synthesizing high dynamic range (HDR) images from multiple low-dynamic range (LDR) exposures in dynamic scenes is challenging. There are two major problems caused by the large motions of foreground objects. One is the severe misalignment among the LDR images. The other is the missing content due to the over-/under-saturated regions caused by the moving objects, which may not be easily compensated for by the multiple LDR exposures. Thus, it requires the HDR generation model to be able to properly fuse the LDR images and restore the missing details without introducing artifacts. To address these two problems, we propose in this paper a novel GAN-based model, HDR-GAN, for synthesizing HDR images from multi-exposed LDR images. To our best knowledge, this work is the first GAN-based approach for fusing multi-exposed LDR images for HDR reconstruction. By incorporating adversarial learning, our method is able to produce faithful information in the regions with missing content. In addition, we also propose a novel generator network, with a reference-based residual merging block for aligning large object motions in the feature domain, and a deep HDR supervision scheme for eliminating artifacts of the reconstructed HDR images. Experimental results demonstrate that our model achieves state-of-the-art reconstruction performance over the prior HDR methods on diverse scenes.

In recent years, with the progress of deep learning technologies, crowd counting has been rapidly developed. In this work, we propose a simple yet effective crowd counting framework that is able to achieve the state-of-the-art performance on various crowded scenes. In particular, we first introduce a perspective-aware density map generation method that is able to produce ground-truth density maps from point annotations to train crowd counting model to accomplish superior performance than prior density map generation techniques. Besides, leveraging our density map generation method, we propose an iterative distillation algorithm to progressively enhance our model with identical network structures, without significantly sacrificing the dimension of the output density maps. In experiments, we demonstrate that, with our simple convolutional neural network architecture strengthened by our proposed training algorithm, our model is able to outperform or be comparable with the state-of-the-art methods. Furthermore, we also evaluate our density map generation approach and distillation algorithm in ablation studies.

In recent years, vision-based crowd analysis has been studied extensively due to its practical applications in real world. In this paper, we formulate a novel crowd analysis problem, in which we aim to predict the crowd distribution in the near future given sequential frames of a crowd video without any identity annotations. Studying this research problem will benefit applications concerned with forecasting crowd dynamics. To solve this problem, we propose a global-residual two-stream recurrent network, which leverages the consecutive crowd video frames as inputs and their corresponding density maps as auxiliary information to predict the future crowd distribution. Moreover, to strengthen the capability of our network, we synthesize scene-specific crowd density maps using simulated data for pretraining. Finally, we demonstrate that our framework is able to predict the crowd distribution for different crowd scenarios and we delve into applications including predicting future crowd count, forecasting high-density region, etc.

Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially in these safety-critical tasks (e.g., autonomous driving). One of the reasons is that the learned policy cannot perform flexible and resilient behaviors as traditional methods to adapt to diverse environments. In this paper, we consider the problem that a mobile robot learns adaptive and resilient behaviors for navigating in unseen uncertain environments while avoiding collisions. We present a novel approach for uncertainty-aware navigation by introducing an uncertainty-aware predictor to model the environmental uncertainty, and we propose a novel uncertainty-aware navigation network to learn resilient behaviors in the prior unknown environments. To train the proposed uncertainty-aware network more stably and efficiently, we present the temperature decay training paradigm, which balances exploration and exploitation during the training process. Our experimental evaluation demonstrates that our approach can learn resilient behaviors in diverse environments and generate adaptive trajectories according to environmental uncertainties., Comment: accepted to ICRA 2020

In this paper, we propose a novel iterative multi-task framework to complete the segmentation mask of an occluded vehicle and recover the appearance of its invisible parts. In particular, to improve the quality of the segmentation completion, we present two coupled discriminators and introduce an auxiliary 3D model pool for sampling authentic silhouettes as adversarial samples. In addition, we propose a two-path structure with a shared network to enhance the appearance recovery capability. By iteratively performing the segmentation completion and the appearance recovery, the results will be progressively refined. To evaluate our method, we present a dataset, the Occluded Vehicle dataset, containing synthetic and real-world occluded vehicle images. We conduct comparison experiments on this dataset and demonstrate that our model outperforms the state-of-the-art in tasks of recovering segmentation mask and appearance for occluded vehicles. Moreover, we also demonstrate that our appearance recovery approach can benefit the occluded vehicle tracking in real-world videos.

Detection and segmentation of the hippocampal structures in volumetric brain images is a challenging problem in the area of medical imaging. In this paper, we propose a two-stage 3D fully convolutional neural network that efficiently detects and segments the hippocampal structures. In particular, our approach first localizes the hippocampus from the whole volumetric image while obtaining a proposal for a rough segmentation. After localization, we apply the proposal as an enhancement mask to extract the fine structure of the hippocampus. The proposed method has been evaluated on a public dataset and compares with state-of-the-art approaches. Results indicate the effectiveness of the proposed method, which yields mean Dice Similarity Coefficients (i.e. DSC) of $0.897$ and $0.900$ for the left and right hippocampus, respectively. Furthermore, extensive experiments manifest that the proposed enhancement mask layer has remarkable benefits for accelerating training process and obtaining more accurate segmentation results., Comment: This paper has been published in the proceedings of IEEE International Conference on Information and Automation 2018

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common problems: the robot may get frozen and cannot make any progress toward its goal, or it may get lost due to severe occlusions inside a crowd. Here we propose a navigation framework that handles the robot freezing and the navigation lost problems simultaneously. First, we enhance the robot's mobility and unfreeze the robot in the crowd using a reinforcement learning based local navigation policy developed in our previous work~\cite{long2017towards}, which naturally takes into account the coordination between the robot and the human. Secondly, the robot takes advantage of its excellent local mobility to recover from its localization failure. In particular, it dynamically chooses to approach a set of recovery positions with rich features. To the best of our knowledge, our method is the first approach that simultaneously solves the freezing problem and the navigation lost problem in dense crowds. We evaluate our method in both simulated and real-world environments and demonstrate that it outperforms the state-of-the-art approaches. Videos are available at https://sites.google.com/view/rlslam.

In recent years, crowd analysis is important for applications such as smart cities, intelligent transportation system, customer behavior prediction, and visual surveillance. Understanding the characteristics of the individual motion in a crowd can be beneficial for social event detection and abnormal detection, but it has rarely been studied. In this paper, we focus on the extraversion measure of individual motions in crowds based on trajectory data. Extraversion is one of typical personalities that is often observed in human crowd behaviors and it can reflect not only the characteristics of the individual motion, but also the that of the holistic crowd motions. To our best knowledge, this is the first attempt to analyze individual extraversion of crowd motions based on trajectories. To accomplish this, we first present a effective composite motion descriptor, which integrates the basic individual motion information and social metrics, to describe the extraversion of each individual in a crowd. The social metrics consider both the neighboring distribution and their interaction pattern. Since our major goal is to learn a universal scoring function that can measure the degrees of extraversion across varied crowd scenes, we incorporate and adapt the active learning technique to the relative attribute approach. Specifically, we assume the social groups in any crowds contain individuals with the similar degree of extraversion. Based on such assumption, we significantly reduce the computation cost by clustering and ranking the trajectories actively. Finally, we demonstrate the performance of our proposed method by measuring the degree of extraversion for real individual trajectories in crowds and analyzing crowd scenes from a real-world dataset., Comment: require modification

The tracking-by-detection framework receives growing attentions through the integration with the Convolutional Neural Networks (CNNs). Existing tracking-by-detection based methods, however, fail to track objects with severe appearance variations. This is because the traditional convolutional operation is performed on fixed grids, and thus may not be able to find the correct response while the object is changing pose or under varying environmental conditions. In this paper, we propose a deformable convolution layer to enrich the target appearance representations in the tracking-by-detection framework. We aim to capture the target appearance variations via deformable convolution, which adaptively enhances its original features. In addition, we also propose a gated fusion scheme to control how the variations captured by the deformable convolution affect the original appearance. The enriched feature representation through deformable convolution facilitates the discrimination of the CNN classifier on the target object and background. Extensive experiments on the standard benchmarks show that the proposed tracker performs favorably against state-of-the-art methods.

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an agent's steering commands in terms of the movement velocity. As a first step toward reducing the performance gap between decentralized and centralized methods, we present a multi-scenario multi-stage training framework to learn an optimal policy. The policy is trained over a large number of robots in rich, complex environments simultaneously using a policy gradient based reinforcement learning algorithm. The learning algorithm is also integrated into a hybrid control framework to further improve the policy's robustness and effectiveness. We validate the learned sensor-level collision avoidance policy in a variety of simulated and real-world scenarios with thorough performance evaluations for large-scale multi-robot systems. The generalization of the learned policy is verified in a set of unseen scenarios including the navigation of a group of heterogeneous robots and a large-scale scenario with 100 robots. Although the policy is trained using simulation data only, we have successfully deployed it on physical robots with shapes and dynamics characteristics that are different from the simulated agents, in order to demonstrate the controller's robustness against the sim-to-real modeling error. Finally, we show that the collision-avoidance policy learned from multi-robot navigation tasks provides an excellent solution to the safe and effective autonomous navigation for a single robot working in a dense real human crowd. Our learned policy enables a robot to make effective progress in a crowd without getting stuck. Videos are available at https://sites.google.com/view/hybridmrca

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed multi-robot collision avoidance systems exist, they often require extracting agent-level features to plan a local collision-free action, which can be computationally prohibitive and not robust. More importantly, in practice the performance of these methods are much lower than their centralized counterparts. We present a decentralized sensor-level collision avoidance policy for multi-robot systems, which directly maps raw sensor measurements to an agent's steering commands in terms of movement velocity. As a first step toward reducing the performance gap between decentralized and centralized methods, we present a multi-scenario multi-stage training framework to find an optimal policy which is trained over a large number of robots on rich, complex environments simultaneously using a policy gradient based reinforcement learning algorithm. We validate the learned sensor-level collision avoidance policy in a variety of simulated scenarios with thorough performance evaluations and show that the final learned policy is able to find time efficient, collision-free paths for a large-scale robot system. We also demonstrate that the learned policy can be well generalized to new scenarios that do not appear in the entire training period, including navigating a heterogeneous group of robots and a large-scale scenario with 100 robots. Videos are available at https://sites.google.com/view/drlmaca

High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision avoidance systems exist, these systems require online geometric optimization where tedious parameter tuning and perfect sensing are necessary. We present a novel end-to-end framework to generate reactive collision avoidance policy for efficient distributed multi-agent navigation. Our method formulates an agent's navigation strategy as a deep neural network mapping from the observed noisy sensor measurements to the agent's steering commands in terms of movement velocity. We train the network on a large number of frames of collision avoidance data collected by repeatedly running a multi-agent simulator with different parameter settings. We validate the learned deep neural network policy in a set of simulated and real scenarios with noisy measurements and demonstrate that our method is able to generate a robust navigation strategy that is insensitive to imperfect sensing and works reliably in all situations. We also show that our method can be well generalized to scenarios that do not appear in our training data, including scenes with static obstacles and agents with different sizes. Videos are available at https://sites.google.com/view/deepmaca.