{"id":"https://openalex.org/W4389665883","doi":"https://doi.org/10.1109/iros55552.2023.10341395","title":"NaviSTAR: Socially Aware Robot Navigation with Hybrid Spatio-Temporal Graph Transformer and Preference Learning","display_name":"NaviSTAR: Socially Aware Robot Navigation with Hybrid Spatio-Temporal Graph Transformer and Preference Learning","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665883","doi":"https://doi.org/10.1109/iros55552.2023.10341395"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341395","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5107140891","display_name":"Weizheng Wang","orcid":"https://orcid.org/0000-0002-0637-4789"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weizheng Wang","raw_affiliation_strings":["Purdue University,SMART Laboratory,Department of Computer and Information Technology,West Lafayette,IN,USA","Department of Computer and Information Technology, SMART Laboratory, Purdue University, West Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,SMART Laboratory,Department of Computer and Information Technology,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"Department of Computer and Information Technology, SMART Laboratory, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387945","display_name":"Ruiqi Wang","orcid":"https://orcid.org/0000-0003-3430-5411"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruiqi Wang","raw_affiliation_strings":["Purdue University,SMART Laboratory,Department of Computer and Information Technology,West Lafayette,IN,USA","Department of Computer and Information Technology, SMART Laboratory, Purdue University, West Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,SMART Laboratory,Department of Computer and Information Technology,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"Department of Computer and Information Technology, SMART Laboratory, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061576014","display_name":"Le Mao","orcid":null},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Le Mao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology,Beijing,China","College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology,Beijing,China","institution_ids":["https://openalex.org/I75390827"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076467173","display_name":"Byung\u2010Cheol Min","orcid":"https://orcid.org/0000-0001-6458-4365"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Byung-Cheol Min","raw_affiliation_strings":["Purdue University,SMART Laboratory,Department of Computer and Information Technology,West Lafayette,IN,USA","Department of Computer and Information Technology, SMART Laboratory, Purdue University, West Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,SMART Laboratory,Department of Computer and Information Technology,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"Department of Computer and Information Technology, SMART Laboratory, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.021,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.89089109,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11348","last_page":"11355"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.998199999332428,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.998199999332428,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6677655577659607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6338955163955688},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5740610957145691},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.570070743560791},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5616165995597839},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.46925994753837585},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.4434834420681},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3591307997703552},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16739296913146973}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6677655577659607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6338955163955688},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5740610957145691},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.570070743560791},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5616165995597839},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.46925994753837585},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.4434834420681},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3591307997703552},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16739296913146973},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341395","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1988994102","https://openalex.org/W1992225177","https://openalex.org/W2081529134","https://openalex.org/W2088604406","https://openalex.org/W2140542425","https://openalex.org/W2194775991","https://openalex.org/W2227909145","https://openalex.org/W2890001928","https://openalex.org/W2963809389","https://openalex.org/W2964051877","https://openalex.org/W3097237405","https://openalex.org/W3119026898","https://openalex.org/W3131623996","https://openalex.org/W3173496395","https://openalex.org/W3203898052","https://openalex.org/W3205151553","https://openalex.org/W3205400264","https://openalex.org/W4225532489","https://openalex.org/W4283739673","https://openalex.org/W4300978621","https://openalex.org/W4312480554","https://openalex.org/W4312894406","https://openalex.org/W4385245566","https://openalex.org/W6726873649","https://openalex.org/W6739901393","https://openalex.org/W6747473740","https://openalex.org/W6799431981","https://openalex.org/W6810646901","https://openalex.org/W6845442662"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2768698792"],"abstract_inverted_index":{"Developing":[0],"robotic":[1],"technologies":[2],"for":[3,40],"use":[4],"in":[5,71,128],"human":[6],"society":[7],"requires":[8],"ensuring":[9],"the":[10,110],"safety":[11],"of":[12,113,158],"robots'":[13],"navigation":[14,55],"behaviors":[15],"while":[16],"adhering":[17],"to":[18,30,68,89,108],"pedestrians'":[19],"expectations":[20],"and":[21,34,38,93,120,131,155],"social":[22,105,114],"norms.":[23],"However,":[24],"understanding":[25],"complex":[26],"human-robot":[27],"interactions":[28,70],"(HRI)":[29],"infer":[31],"potential":[32],"cooperation":[33],"response":[35],"among":[36],"robots":[37],"pedestrians":[39],"cooperative":[41],"collision":[42],"avoid-ance":[43],"is":[44],"challenging.":[45],"To":[46,116],"address":[47],"these":[48],"challenges,":[49],"we":[50,102,118],"propose":[51],"a":[52,62,91,94,104],"novel":[53],"socially-aware":[54],"benchmark":[56],"called":[57],"NaviS":[58],"Tar,":[59],"which":[60],"utilizes":[61],"hybrid":[63],"Spatio-":[64],"Temporal":[65],"grAph":[66],"tRansformer":[67],"understand":[69],"human-rich":[72],"environments":[73],"fusing":[74],"crowd":[75],"multi-modal":[76],"dynamic":[77],"features.":[78],"We":[79],"leverage":[80],"an":[81],"off-policy":[82],"reinforcement":[83],"learning":[84,88],"algorithm":[85,123],"with":[86,98,124,143],"preference":[87],"train":[90,119],"policy":[92],"reward":[95],"function":[96,107],"network":[97],"supervi-sor":[99],"guidance.":[100],"Additionally,":[101],"design":[103],"score":[106],"evaluate":[109],"overall":[111],"performance":[112,145],"navigation.":[115],"compare,":[117],"test":[121],"our":[122],"other":[125],"state-of-the-art":[126],"methods":[127,142],"both":[129],"simulator":[130],"real-world":[132],"scenarios":[133],"independently.":[134],"Our":[135],"results":[136],"show":[137],"that":[138],"NaviSTAR":[139],"outperforms":[140],"previous":[141],"outstanding":[144],"<sup":[146,149],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[147,150],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[148,151],"The":[152],"source":[153],"code":[154],"experiment":[156],"videos":[157],"this":[159],"work":[160],"are":[161],"available":[162],"at:":[163],"https://sites.google.com/view/san-navistar":[164]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
