{"id":"https://openalex.org/W4392207747","doi":"https://doi.org/10.1109/lra.2024.3370051","title":"SoRTS: Learned Tree Search for Long Horizon Social Robot Navigation","display_name":"SoRTS: Learned Tree Search for Long Horizon Social Robot Navigation","publication_year":2024,"publication_date":"2024-02-27","ids":{"openalex":"https://openalex.org/W4392207747","doi":"https://doi.org/10.1109/lra.2024.3370051"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3370051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3370051","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5039397853","display_name":"Ingrid Navarro","orcid":"https://orcid.org/0000-0002-7312-670X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ingrid Navarro","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7312-670X","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085055374","display_name":"Jay Patrikar","orcid":"https://orcid.org/0000-0002-3668-8295"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jay Patrikar","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3668-8295","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082118046","display_name":"Joao P. A. Dantas","orcid":"https://orcid.org/0000-0003-0300-8027"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joao P. A. Dantas","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0300-8027","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044639118","display_name":"Rohan Baijal","orcid":"https://orcid.org/0000-0002-8516-229X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rohan Baijal","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8516-229X","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043231859","display_name":"Ian Higgins","orcid":"https://orcid.org/0000-0003-4921-4344"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian Higgins","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4921-4344","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8373-4688","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019807694","display_name":"Jean Oh","orcid":"https://orcid.org/0000-0001-9709-2658"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Oh","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9709-2658","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8749,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.72482461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"9","issue":"4","first_page":"3759","last_page":"3766"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9962000250816345,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9929999709129333,"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/horizon","display_name":"Horizon","score":0.6730260848999023},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6011911630630493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5079005360603333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4834043085575104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4686792492866516},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40145978331565857},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3248556852340698},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1444854438304901},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.06883305311203003}],"concepts":[{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.6730260848999023},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6011911630630493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5079005360603333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4834043085575104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4686792492866516},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40145978331565857},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3248556852340698},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1444854438304901},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.06883305311203003},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3370051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3370051","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.5299999713897705,"display_name":"Reduced inequalities"}],"awards":[{"id":"https://openalex.org/G7867734114","display_name":null,"funder_award_id":"P0019782","funder_id":"https://openalex.org/F4320322064","funder_display_name":"Korea Institute for Advancement of Technology"},{"id":"https://openalex.org/G8151683156","display_name":null,"funder_award_id":"P0026022","funder_id":"https://openalex.org/F4320322064","funder_display_name":"Korea Institute for Advancement of Technology"}],"funders":[{"id":"https://openalex.org/F4320322064","display_name":"Korea Institute for Advancement of Technology","ror":"https://ror.org/015w1qa96"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1625390266","https://openalex.org/W1992225177","https://openalex.org/W2167052694","https://openalex.org/W2742284248","https://openalex.org/W2773965764","https://openalex.org/W2800727637","https://openalex.org/W2890001928","https://openalex.org/W2902907165","https://openalex.org/W2952541788","https://openalex.org/W2963809389","https://openalex.org/W3009593063","https://openalex.org/W3090725241","https://openalex.org/W3090773036","https://openalex.org/W3120723038","https://openalex.org/W3134000433","https://openalex.org/W3134972302","https://openalex.org/W3183721936","https://openalex.org/W3202586194","https://openalex.org/W3202615380","https://openalex.org/W3204336908","https://openalex.org/W3205400264","https://openalex.org/W3206681956","https://openalex.org/W4205128436","https://openalex.org/W4211070925","https://openalex.org/W4221156702","https://openalex.org/W4229013399","https://openalex.org/W4285102559","https://openalex.org/W4285796263","https://openalex.org/W4308044468","https://openalex.org/W4311443343","https://openalex.org/W4312314258","https://openalex.org/W4383108586","https://openalex.org/W4383109325","https://openalex.org/W6803692702","https://openalex.org/W6805718147","https://openalex.org/W6840821813"],"related_works":["https://openalex.org/W4233159725","https://openalex.org/W2347391878","https://openalex.org/W8302103","https://openalex.org/W2347250522","https://openalex.org/W4388749683","https://openalex.org/W2051033938","https://openalex.org/W3171631314","https://openalex.org/W2759633009","https://openalex.org/W2674584172","https://openalex.org/W4288076938"],"abstract_inverted_index":{"The":[0],"fast-growing":[1],"demand":[2],"for":[3,11,25,40,67,84],"fully":[4],"autonomous":[5],"robots":[6],"in":[7,30,34,71,96,113,191],"shared":[8],"spaces":[9],"calls":[10],"developing":[12],"trustworthy":[13],"agents":[14],"that":[15,127,161],"can":[16,43],"safely":[17],"and":[18,109,151],"seamlessly":[19],"navigate":[20],"crowded":[21],"environments.":[22,36],"Recent":[23],"models":[24,83],"motion":[26,81],"prediction":[27,82],"show":[28,160],"promise":[29],"characterizing":[31],"social":[32,72,94],"interactions":[33],"such":[35],"However,":[37],"using":[38,87],"them":[39],"downstream":[41],"navigation":[42,70,86,95],"lead":[44],"to":[45,49,76,105,134,166,186],"unsafe":[46],"behavior":[47],"due":[48],"their":[50],"myopic":[51],"decision-making.":[52],"Prompted":[53],"by":[54,157],"this,":[55],"we":[56,120,175],"propose":[57],"<italic":[58,97],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[59,98,198,201,205,208,212],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Social":[60],"Robot":[61],"Tree":[62,90],"Search</i>":[63],"(SoRTS),":[64],"an":[65],"algorithm":[66],"safe":[68],"robot":[69],"domains.":[73],"SoRTS":[74,162],"aims":[75],"augment":[77],"existing":[78],"socially":[79],"aware":[80],"long-horizon":[85],"Monte":[88],"Carlo":[89],"Search.":[91],"We":[92,131],"use":[93,132],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">general":[99],"aviation</i>":[100],"as":[101],"a":[102,123,136,146,180],"case":[103],"study":[104,139],"evaluate":[106],"our":[107,149,188],"approach":[108],"further":[110],"the":[111],"research":[112],"full-scale":[114],"aerial":[115,125],"autonomy.":[116],"In":[117],"doing":[118],"so,":[119],"introduce":[121],"X-PlaneROS,":[122],"high-fidelity":[124],"simulator":[126],"enables":[128],"human-robot":[129],"interaction.":[130],"X-PlaneROS":[133],"conduct":[135],"first-of-its-kind":[137],"user":[138],"where":[140],"26":[141],"FAA-certified":[142],"pilots":[143],"interact":[144],"with":[145,179,193],"human":[147,168],"pilot,":[148],"algorithm,":[150],"its":[152,172],"ablation.":[153,173],"Our":[154],"results,":[155],"supported":[156],"statistical":[158],"evidence,":[159],"exhibits":[163],"comparable":[164],"performance":[165,190],"competent":[167],"pilots,":[169],"significantly":[170],"outperforming":[171],"Finally,":[174],"complement":[176],"these":[177],"results":[178],"broad":[181],"set":[182],"of":[183],"self-play":[184],"experiments":[185],"showcase":[187],"algorithm's":[189],"scenarios":[192],"increasing":[194],"complexity.":[195],"[":[196],"<uri":[197,204,211],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Code</uri>":[199],"<inline-formula":[200,207],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[202,209],"notation=\"LaTeX\">$\\mid$</tex-math></inline-formula>":[203,210],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Simulator</uri>":[206],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Video</uri>":[213],"]":[214]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}