{"id":"https://openalex.org/W4401416954","doi":"https://doi.org/10.1109/icra57147.2024.10611710","title":"Rethinking Social Robot Navigation: Leveraging the Best of Two Worlds","display_name":"Rethinking Social Robot Navigation: Leveraging the Best of Two Worlds","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416954","doi":"https://doi.org/10.1109/icra57147.2024.10611710"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5006997685","display_name":"Amir Hossain Raj","orcid":"https://orcid.org/0009-0007-7889-6352"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Amir Hossain Raj","raw_affiliation_strings":["George Mason University"],"affiliations":[{"raw_affiliation_string":"George Mason University","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005079959","display_name":"Zichao Hu","orcid":"https://orcid.org/0009-0007-6433-8878"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zichao Hu","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039434686","display_name":"Haresh Karnan","orcid":"https://orcid.org/0000-0001-9855-0921"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haresh Karnan","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016704715","display_name":"Rohan Chandra","orcid":"https://orcid.org/0000-0003-4843-6375"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rohan Chandra","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030397986","display_name":"Amirreza Payandeh","orcid":null},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amirreza Payandeh","raw_affiliation_strings":["George Mason University"],"affiliations":[{"raw_affiliation_string":"George Mason University","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114235104","display_name":"Luisa Mao","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luisa Mao","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001594330","display_name":"Peter Stone","orcid":"https://orcid.org/0000-0002-6795-420X"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Stone","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004302220","display_name":"Joydeep Biswas","orcid":"https://orcid.org/0000-0002-1211-1731"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joydeep Biswas","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017662025","display_name":"Xuesu Xiao","orcid":"https://orcid.org/0000-0001-5151-2186"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuesu Xiao","raw_affiliation_strings":["George Mason University"],"affiliations":[{"raw_affiliation_string":"George Mason University","institution_ids":["https://openalex.org/I162714631"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5006997685"],"corresponding_institution_ids":["https://openalex.org/I162714631"],"apc_list":null,"apc_paid":null,"fwci":4.0013,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.94928751,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"16330","last_page":"16337"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940000176429749,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9937000274658203,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6725123524665833},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.565505862236023},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47983476519584656},{"id":"https://openalex.org/keywords/social-worlds","display_name":"Social worlds","score":0.47510847449302673},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.41991138458251953},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39772024750709534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.351823091506958},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2255018949508667},{"id":"https://openalex.org/keywords/sociology","display_name":"Sociology","score":0.1278878152370453}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6725123524665833},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.565505862236023},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47983476519584656},{"id":"https://openalex.org/C2985059025","wikidata":"https://www.wikidata.org/wiki/Q4430254","display_name":"Social worlds","level":2,"score":0.47510847449302673},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.41991138458251953},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39772024750709534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.351823091506958},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2255018949508667},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.1278878152370453},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.44999998807907104}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308204","display_name":"Northrop Grumman","ror":"https://ror.org/05kewds18"},{"id":"https://openalex.org/F4320309327","display_name":"Google","ror":"https://ror.org/00njsd438"},{"id":"https://openalex.org/F4320317847","display_name":"Raytheon Technologies","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W86393979","https://openalex.org/W1969483458","https://openalex.org/W2003708116","https://openalex.org/W2021096542","https://openalex.org/W2043727137","https://openalex.org/W2045134164","https://openalex.org/W2099893201","https://openalex.org/W2113286054","https://openalex.org/W2117211893","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2152536965","https://openalex.org/W2167224731","https://openalex.org/W2169528473","https://openalex.org/W2604216058","https://openalex.org/W2724806769","https://openalex.org/W2750823073","https://openalex.org/W2889840352","https://openalex.org/W2912063360","https://openalex.org/W2962917939","https://openalex.org/W2970204937","https://openalex.org/W2979863294","https://openalex.org/W3016507688","https://openalex.org/W3036170014","https://openalex.org/W3081756019","https://openalex.org/W3089422924","https://openalex.org/W3102097237","https://openalex.org/W3122878979","https://openalex.org/W3127177108","https://openalex.org/W3131579243","https://openalex.org/W3134613326","https://openalex.org/W3163015603","https://openalex.org/W3163454111","https://openalex.org/W3181484951","https://openalex.org/W3190038566","https://openalex.org/W3193317239","https://openalex.org/W3200223366","https://openalex.org/W3200835353","https://openalex.org/W3206314692","https://openalex.org/W3206800343","https://openalex.org/W3207060053","https://openalex.org/W3208248092","https://openalex.org/W4200091517","https://openalex.org/W4220840735","https://openalex.org/W4229745346","https://openalex.org/W4285117889","https://openalex.org/W4311167248","https://openalex.org/W4312994513","https://openalex.org/W4313146937","https://openalex.org/W4320059727","https://openalex.org/W4324107119","https://openalex.org/W4362689599","https://openalex.org/W4380993926","https://openalex.org/W4382762613","https://openalex.org/W4383108450","https://openalex.org/W4383109122","https://openalex.org/W4386113841","https://openalex.org/W4388819906","https://openalex.org/W4389666015","https://openalex.org/W4391753820","https://openalex.org/W6684338915","https://openalex.org/W6797229101","https://openalex.org/W6810047190","https://openalex.org/W6843158373","https://openalex.org/W6925834787"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2133150803","https://openalex.org/W2108809812","https://openalex.org/W2082173922","https://openalex.org/W2933829981","https://openalex.org/W2063471269","https://openalex.org/W2742736081","https://openalex.org/W4389264240","https://openalex.org/W2085401368"],"abstract_inverted_index":{"Empowering":[0],"robots":[1,15,201],"to":[2,32,50,52,62,88,213],"navigate":[3],"in":[4,17,79,141,179],"a":[5,100,119,142,176,183],"socially":[6],"compliant":[7],"manner":[8],"is":[9,115],"essential":[10],"for":[11],"the":[12,38,83,138,155,162,204,216],"acceptance":[13],"of":[14,29,42,58,145,164],"moving":[16],"human-inhabited":[18],"environments.":[19],"Previously,":[20],"roboticists":[21],"have":[22],"developed":[23],"geometric":[24,46,129,166,189,217],"navigation":[25,47,93,105,123,158],"systems":[26,48,94,130],"with":[27,137],"decades":[28],"empirical":[30],"validation":[31],"achieve":[33,208],"safety":[34],"and":[35,70,95,167,190,198],"efficiency.":[36],"However,":[37],"many":[39],"complex":[40],"factors":[41],"social":[43,53,104,122,146,156,210],"compliance":[44,211],"make":[45],"hard":[49],"adapt":[51],"situations,":[54],"where":[55],"no":[56],"amount":[57],"tuning":[59],"enables":[60],"them":[61],"be":[63],"both":[64,165,196],"safe":[65],"(people":[66],"are":[67],"too":[68],"unpredictable)":[69],"efficient":[71],"(the":[72],"frozen":[73],"robot":[74,157],"problem).":[75],"With":[76],"recent":[77],"advances":[78],"deep":[80],"learning":[81],"approaches,":[82],"common":[84],"reaction":[85,114],"has":[86],"been":[87],"entirely":[89],"discard":[90],"these":[91],"classical":[92],"start":[96],"from":[97],"scratch,":[98],"building":[99],"completely":[101],"new":[102],"learning-based":[103,168,191,219],"planner.":[106],"In":[107],"this":[108,113,172],"work,":[109],"we":[110,126,152,181],"find":[111,127],"that":[112,128,135,186,203],"unnecessarily":[116],"extreme:":[117],"using":[118,214],"large-scale":[120],"real-world":[121],"dataset,":[124],"SCAND,":[125],"can":[131,153,207],"produce":[132],"trajectory":[133],"plans":[134],"align":[136],"human":[139],"demonstrations":[140],"large":[143],"number":[144],"situations.":[147],"We,":[148],"therefore,":[149],"ask":[150],"if":[151],"rethink":[154],"problem":[159],"by":[160],"leveraging":[161],"advantages":[163],"methods.":[169],"We":[170],"validate":[171],"hybrid":[173,184,205],"paradigm":[174],"through":[175],"proof-of-concept":[177],"experiment,":[178],"which":[180],"develop":[182],"planner":[185,206],"switches":[187],"between":[188],"planning.":[192],"Our":[193],"experiments":[194],"on":[195],"SCAND":[197],"two":[199],"physical":[200],"show":[202],"better":[209],"compared":[212],"either":[215],"or":[218],"approach":[220],"alone.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}