{"id":"https://openalex.org/W4405785726","doi":"https://doi.org/10.1109/iros58592.2024.10802383","title":"Adaptive Social Force Window Planner with Reinforcement Learning","display_name":"Adaptive Social Force Window Planner with Reinforcement Learning","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785726","doi":"https://doi.org/10.1109/iros58592.2024.10802383"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802383","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5041311494","display_name":"Mauro Martini","orcid":"https://orcid.org/0000-0002-6204-3845"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Mauro Martini","raw_affiliation_strings":["Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy,10129"],"affiliations":[{"raw_affiliation_string":"Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy,10129","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035915697","display_name":"No\u00e9 P\u00e9rez-Higueras","orcid":"https://orcid.org/0000-0001-9105-5733"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"No\u00e9 P\u00e9rez-Higueras","raw_affiliation_strings":["Pablo de Olavide University,School of Engineering,Seville,Spain"],"affiliations":[{"raw_affiliation_string":"Pablo de Olavide University,School of Engineering,Seville,Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064737654","display_name":"Andrea Ostuni","orcid":null},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Ostuni","raw_affiliation_strings":["Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy,10129"],"affiliations":[{"raw_affiliation_string":"Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy,10129","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009477620","display_name":"Marcello Chiaberge","orcid":"https://orcid.org/0000-0002-1921-0126"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marcello Chiaberge","raw_affiliation_strings":["Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy,10129"],"affiliations":[{"raw_affiliation_string":"Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy,10129","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040477311","display_name":"Fernando Caballero","orcid":"https://orcid.org/0000-0001-8869-2846"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fernando Caballero","raw_affiliation_strings":["Pablo de Olavide University,School of Engineering,Seville,Spain"],"affiliations":[{"raw_affiliation_string":"Pablo de Olavide University,School of Engineering,Seville,Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042031541","display_name":"Lu\u00eds Merino","orcid":"https://orcid.org/0000-0003-4927-8647"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Merino","raw_affiliation_strings":["Pablo de Olavide University,School of Engineering,Seville,Spain"],"affiliations":[{"raw_affiliation_string":"Pablo de Olavide University,School of Engineering,Seville,Spain","institution_ids":["https://openalex.org/I95013407"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5041311494"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":null,"apc_paid":null,"fwci":2.6817,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.89703292,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4816","last_page":"4822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9621000289916992,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9621000289916992,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8397843837738037},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7465608716011047},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.6894910335540771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6749277710914612},{"id":"https://openalex.org/keywords/social-planner","display_name":"Social planner","score":0.549755334854126},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5394618511199951},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4187670350074768},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.412009060382843},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32914048433303833},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.145470529794693},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11390489339828491},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.07270792126655579},{"id":"https://openalex.org/keywords/microeconomics","display_name":"Microeconomics","score":0.05651652812957764}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8397843837738037},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7465608716011047},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.6894910335540771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6749277710914612},{"id":"https://openalex.org/C2777706055","wikidata":"https://www.wikidata.org/wiki/Q7551303","display_name":"Social planner","level":2,"score":0.549755334854126},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5394618511199951},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4187670350074768},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.412009060382843},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32914048433303833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.145470529794693},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11390489339828491},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.07270792126655579},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.05651652812957764},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802383","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.5400000214576721,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2089584121","https://openalex.org/W2117211893","https://openalex.org/W2148961728","https://openalex.org/W2167052694","https://openalex.org/W2210721416","https://openalex.org/W2604216058","https://openalex.org/W2757579011","https://openalex.org/W2768361032","https://openalex.org/W3134399564","https://openalex.org/W3134972302","https://openalex.org/W3158253560","https://openalex.org/W3163454111","https://openalex.org/W3195513766","https://openalex.org/W3207060053","https://openalex.org/W3208248092","https://openalex.org/W4200635690","https://openalex.org/W4205128436","https://openalex.org/W4220840735","https://openalex.org/W4296843473","https://openalex.org/W4304172573","https://openalex.org/W4385452652","https://openalex.org/W4386363039","https://openalex.org/W4386766601","https://openalex.org/W6747473740","https://openalex.org/W6784507338","https://openalex.org/W6797755720"],"related_works":["https://openalex.org/W2039408232","https://openalex.org/W2082405712","https://openalex.org/W3150250294","https://openalex.org/W2004491964","https://openalex.org/W3121569587","https://openalex.org/W3139967592","https://openalex.org/W2023216454","https://openalex.org/W2382208734","https://openalex.org/W2949859577","https://openalex.org/W4383100704"],"abstract_inverted_index":{"Human-aware":[0],"navigation":[1,12,128],"is":[2],"a":[3,73,106],"complex":[4,60],"task":[5],"for":[6],"mobile":[7],"robots,":[8],"requiring":[9],"an":[10,68],"autonomous":[11],"system":[13],"capable":[14],"of":[15,84,98,118,140],"achieving":[16],"efficient":[17],"path":[18],"planning":[19],"together":[20],"with":[21,105],"socially":[22],"compliant":[23],"behaviors.":[24],"Social":[25,112],"planners":[26],"usually":[27],"add":[28],"costs":[29],"or":[30,41],"constraints":[31],"to":[32,37,45,78,89,121],"the":[33,43,46,81,85,96,99,111,116,123,137,141],"objective":[34],"function,":[35],"leading":[36],"intricate":[38],"tuning":[39],"processes":[40],"tailoring":[42],"solution":[44],"specific":[47],"social":[48,61,70,107,127],"scenario.":[49],"Machine":[50],"Learning":[51,76],"can":[52],"enhance":[53],"planners\u2019":[54],"versatility":[55],"and":[56,115],"help":[57],"them":[58],"learn":[59],"behaviors":[62],"from":[63],"data.":[64],"This":[65],"work":[66],"proposes":[67],"adaptive":[69],"planner,":[71],"using":[72],"Deep":[74],"Reinforcement":[75],"agent":[77],"dynamically":[79],"adjust":[80],"weighting":[82],"parameters":[83],"cost":[86,108,146],"function":[87],"used":[88],"evaluate":[90],"trajectories.":[91],"The":[92],"resulting":[93],"planner":[94],"combines":[95],"robustness":[97],"classic":[100],"Dynamic":[101],"Window":[102],"Approach,":[103],"integrated":[104],"based":[109],"on":[110,126,133],"Force":[113],"Model,":[114],"flexibility":[117],"learning":[119],"methods":[120],"boost":[122],"overall":[124],"performance":[125],"tasks.":[129],"Our":[130],"extensive":[131],"experimentation":[132],"different":[134],"environments":[135],"demonstrates":[136],"general":[138],"advantage":[139],"proposed":[142],"method":[143],"over":[144],"static":[145],"planners.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}