{"id":"https://openalex.org/W4383066144","doi":"https://doi.org/10.1109/icra48891.2023.10161222","title":"The Human Gaze Helps Robots Run Bravely and Efficiently in Crowds","display_name":"The Human Gaze Helps Robots Run Bravely and Efficiently in Crowds","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066144","doi":"https://doi.org/10.1109/icra48891.2023.10161222"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024493594","display_name":"Qianyi Zhang","orcid":"https://orcid.org/0000-0003-0973-0037"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianyi Zhang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088466234","display_name":"Zhengxi Hu","orcid":"https://orcid.org/0000-0001-6119-4185"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxi Hu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102531107","display_name":"Yinuo Song","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinuo Song","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112318991","display_name":"Jiayi Pei","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayi Pei","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030233306","display_name":"Jingtai Liu","orcid":"https://orcid.org/0000-0003-2645-5655"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingtai Liu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":0.9711,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.8339802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7540","last_page":"7546"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/crowds","display_name":"Crowds","score":0.9247774481773376},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8002339601516724},{"id":"https://openalex.org/keywords/futures-studies","display_name":"Futures studies","score":0.6556460857391357},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5993630886077881},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5532587170600891},{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.5441436171531677},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.515245258808136},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.509067952632904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4889901876449585},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.4395041763782501},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35706448554992676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22076165676116943},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.21621525287628174}],"concepts":[{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.9247774481773376},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8002339601516724},{"id":"https://openalex.org/C64848388","wikidata":"https://www.wikidata.org/wiki/Q188867","display_name":"Futures studies","level":2,"score":0.6556460857391357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5993630886077881},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5532587170600891},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.5441436171531677},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.515245258808136},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.509067952632904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4889901876449585},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.4395041763782501},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35706448554992676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22076165676116943},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.21621525287628174},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"No poverty","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/1"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W566923484","https://openalex.org/W1501521316","https://openalex.org/W2023072224","https://openalex.org/W2045134164","https://openalex.org/W2050880379","https://openalex.org/W2075382431","https://openalex.org/W2082585576","https://openalex.org/W2092606919","https://openalex.org/W2172133054","https://openalex.org/W2549200707","https://openalex.org/W2788334879","https://openalex.org/W2895535699","https://openalex.org/W2898461817","https://openalex.org/W2995635524","https://openalex.org/W3032988931","https://openalex.org/W3062588417","https://openalex.org/W3099723796","https://openalex.org/W3105219551","https://openalex.org/W3159797474","https://openalex.org/W3163081386","https://openalex.org/W3170300491","https://openalex.org/W3181452220","https://openalex.org/W6629780285","https://openalex.org/W6742793987","https://openalex.org/W6748527156","https://openalex.org/W6782468546"],"related_works":["https://openalex.org/W4240200267","https://openalex.org/W2370236282","https://openalex.org/W1511510665","https://openalex.org/W3156023083","https://openalex.org/W4390453990","https://openalex.org/W1524661185","https://openalex.org/W1995047307","https://openalex.org/W2078823605","https://openalex.org/W4388576605","https://openalex.org/W2062302545"],"abstract_inverted_index":{"In":[0],"human-aware":[1],"navigation,":[2],"the":[3,24,43,75,82,89,150],"robot":[4,25,59,90,132],"tacitly":[5],"games":[6],"with":[7,71,93,143],"humans,":[8],"balancing":[9],"safety":[10,95,111],"and":[11,57,105,112,148],"efficiency":[12],"according":[13],"to":[14,26,80,91,117,121,141,152],"human":[15,55,76,119],"intentions.":[16],"Poor":[17],"balance":[18],"or":[19,29,36,157],"bad":[20],"intent":[21],"recognition":[22],"causes":[23],"stop":[27],"conservatively":[28],"advance":[30],"rashly,":[31],"resulting":[32],"in":[33,101,109,155],"a":[34,38,67],"deadlock":[35],"even":[37],"collision":[39],"respectively.":[40],"To":[41],"address":[42],"issue,":[44],"this":[45],"paper":[46],"proposes":[47],"an":[48],"improved":[49],"limit":[50],"cycle":[51],"for":[52],"collaboratively":[53],"parameterizing":[54],"intentions":[56],"planning":[58],"motions.":[60],"The":[61,131],"human-robot":[62],"interaction":[63],"is":[64,78,99],"modeled":[65],"as":[66],"dynamic":[68],"chicken":[69],"game":[70],"incomplete":[72],"information,":[73],"where":[74],"gaze":[77],"introduced":[79],"depict":[81],"unique":[83],"characteristics":[84],"of":[85],"each":[86],"person,":[87],"allowing":[88],"approach":[92],"different":[94],"margins.":[96],"Our":[97],"method":[98],"tested":[100],"challenging":[102],"indoor":[103],"scenarios":[104],"outperforms":[106],"traditional":[107],"methods":[108],"both":[110],"efficiency.":[113],"We":[114],"enable":[115],"robots":[116],"utilize":[118],"wisdom":[120],"solve":[122],"problems":[123],"that":[124],"cannot":[125],"be":[126],"solved":[127],"on":[128,146],"their":[129],"own.":[130],"bravely":[133],"goes":[134],"through":[135],"oncoming":[136],"crowds":[137],"by":[138],"getting":[139],"closer":[140],"people":[142],"higher":[144],"attention":[145],"it":[147],"has":[149],"foresight":[151],"stably":[153],"cross":[154],"front":[156],"behind":[158],"people.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
