{"id":"https://openalex.org/W7215131691","doi":"https://doi.org/10.48550/arxiv.2609.40177","title":"Social-WM: Safety-Aware Latent World Models for Robot Social Navigation","display_name":"Social-WM: Safety-Aware Latent World Models for Robot Social Navigation","publication_year":2026,"publication_date":"2026-09-30","ids":{"openalex":"https://openalex.org/W7215131691","doi":"https://doi.org/10.48550/arxiv.2609.40177"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2609.40177","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.40177","pdf_url":"https://arxiv.org/pdf/2609.40177","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2609.40177","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5153849799","display_name":"Zhihao Zheng","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Zhihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5046998111","display_name":"Mooi Choo Chuah","orcid":"https://orcid.org/0000-0002-0117-0621","observed_orcids":["https://orcid.org/0000-0002-0117-0621"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chuah, Mooi Choo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8618000149726868,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8618000149726868,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.053300000727176666,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.01769999973475933,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/latent-world-models","display_name":"latent world models","score":0.8420000076293945},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"inverse dynamics","score":0.7649999856948853},{"id":"https://openalex.org/keywords/egocentric-video","display_name":"egocentric video","score":0.7680000066757202},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.671999990940094},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.6299999952316284},{"id":"https://openalex.org/keywords/zero-shot-transfer","display_name":"zero-shot transfer","score":0.6179999709129333}],"concepts":[{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.72079998254776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6450999975204468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6209999918937683},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.5788999795913696},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5250999927520752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49950000643730164},{"id":"https://openalex.org/C2776378722","wikidata":"https://www.wikidata.org/wiki/Q3454417","display_name":"Realizability","level":2,"score":0.4702000021934509},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4498000144958496},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.43950000405311584},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3698999881744385},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.35510000586509705},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3357999920845032},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33000001311302185},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.3147999942302704},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.29409998655319214},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.2838999927043915},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28040000796318054},{"id":"https://openalex.org/C2779231336","wikidata":"https://www.wikidata.org/wiki/Q7534724","display_name":"Sketch","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C117035363","wikidata":"https://www.wikidata.org/wiki/Q3769299","display_name":"Human behavior","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2556999921798706}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2609.40177","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.40177","pdf_url":"https://arxiv.org/pdf/2609.40177","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2609.40177","doi":"https://doi.org/10.48550/arxiv.2609.40177","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2609.40177","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2609.40177","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.40177","pdf_url":"https://arxiv.org/pdf/2609.40177","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7215131691.pdf","grobid_xml":"https://content.openalex.org/works/W7215131691.grobid-xml"},"referenced_works_count":7,"referenced_works":["https://openalex.org/W3091507139","https://openalex.org/W4366208220","https://openalex.org/W4404360744","https://openalex.org/W7125164177","https://openalex.org/W7138073997","https://openalex.org/W7140141371","https://openalex.org/W7171630636"],"related_works":["https://openalex.org/W7138073997","https://openalex.org/W7101803101","https://openalex.org/W7204555545","https://openalex.org/W7164227530","https://openalex.org/W7113901816","https://openalex.org/W7220661553","https://openalex.org/W7172475533","https://openalex.org/W7169867624","https://openalex.org/W4391405802","https://openalex.org/W7128529382"],"abstract_inverted_index":{"Safe":[0],"social":[1,30],"navigation":[2],"requires":[3],"a":[4,19,55,66,85,113,155],"robot":[5],"to":[6,79,185,194],"anticipate":[7],"not":[8],"only":[9],"the":[10,59,63,100,103,123,129,139,144],"future":[11,97,106],"consequences":[12,93],"of":[13],"its":[14],"actions,":[15],"but":[16,77],"also":[17],"whether":[18],"nominal":[20,60,67,130],"action":[21,61,69,124],"can":[22],"actually":[23,125],"be":[24,71,80],"executed":[25,73],"under":[26,191],"surrounding":[27],"physical":[28],"and":[29,62,143,163,168,172,187],"constraints.":[31],"We":[32,110],"present":[33],"Social-WM,":[34],"an":[35],"efficient":[36],"latent":[37,120,140],"world-model":[38],"planning":[39],"framework":[40],"trained":[41],"from":[42],"egocentric":[43],"RGB":[44],"video":[45],"sequences.":[46],"Our":[47],"key":[48],"observation":[49],"is":[50,102],"that":[51,117],"social-navigation":[52],"experience":[53],"contains":[54],"systematic":[56],"discrepancy":[57,152],"between":[58],"realizable":[64,114],"action:":[65],"forward":[68],"may":[70],"fully":[72],"in":[74],"free":[75],"space,":[76],"needs":[78],"constrained":[81],"when":[82],"heading":[83],"towards":[84],"pedestrian":[86,198],"or":[87,203],"obstacle.":[88],"Social-WM":[89,177],"learns":[90],"these":[91],"safety-relevant":[92],"directly":[94],"through":[95,138],"action-conditioned":[96],"prediction,":[98],"where":[99],"target":[101],"actual":[104],"observed":[105,119],"following":[107],"each":[108],"command.":[109],"further":[111],"introduce":[112],"inverse-dynamics":[115],"objective":[116],"associates":[118],"transitions":[121],"with":[122],"realized":[126],"rather":[127],"than":[128],"one.":[131],"At":[132],"deployment,":[133],"candidate":[134],"actions":[135],"are":[136],"imagined":[137],"world":[141],"model,":[142],"inverse":[145],"dynamics":[146,162],"model":[147,165],"estimates":[148],"their":[149],"realizability;":[150],"nominal--realizable":[151],"then":[153],"provides":[154],"safety":[156],"signal":[157],"before":[158],"execution.":[159],"The":[160],"learned":[161],"realizability":[164],"remain":[166],"goal-independent":[167],"support":[169],"both":[170],"position-":[171],"image-goal":[173],"navigation.":[174],"On":[175],"Social-HM3D,":[176],"achieves":[178],"63.77%":[179],"success":[180],"while":[181],"reducing":[182],"human":[183,201],"collisions":[184],"21.67%,":[186],"maintains":[188],"strong":[189],"performance":[190],"zero-shot":[192],"transfer":[193],"Social-MP3D,":[195],"without":[196],"explicit":[197],"tracking,":[199],"privileged":[200],"state,":[202],"online":[204],"reinforcement":[205],"learning.":[206]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-10-02T00:00:00"}