{"id":"https://openalex.org/W2999888342","doi":"https://doi.org/10.1109/ro-man46459.2019.8956444","title":"Learning Socially Appropriate Robot Approaching Behavior Toward Groups using Deep Reinforcement Learning","display_name":"Learning Socially Appropriate Robot Approaching Behavior Toward Groups using Deep Reinforcement Learning","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2999888342","doi":"https://doi.org/10.1109/ro-man46459.2019.8956444","mag":"2999888342"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man46459.2019.8956444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man46459.2019.8956444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","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/A5055954787","display_name":"Yuan Gao","orcid":"https://orcid.org/0000-0002-3526-5856"},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yuan Gao","raw_affiliation_strings":["Department of Information Technology, Uppsala University, Uppsala, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Technology, Uppsala University, Uppsala, Sweden","institution_ids":["https://openalex.org/I123387679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101564849","display_name":"Fangkai Yang","orcid":"https://orcid.org/0000-0002-3089-0345"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Fangkai Yang","raw_affiliation_strings":["Department of Computational Science and Technology, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computational Science and Technology, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072347557","display_name":"Martin Frisk","orcid":null},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Martin Frisk","raw_affiliation_strings":["Department of Information Technology, Uppsala University, Uppsala, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Technology, Uppsala University, Uppsala, Sweden","institution_ids":["https://openalex.org/I123387679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064987132","display_name":"Daniel Hemandez","orcid":null},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniel Hemandez","raw_affiliation_strings":["Department of Computer Science, University of York, York, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of York, York, United Kingdom","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055757332","display_name":"Christopher Peters","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christopher Peters","raw_affiliation_strings":["Department of Computational Science and Technology, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computational Science and Technology, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014668082","display_name":"Ginevra Castellano","orcid":"https://orcid.org/0000-0002-2841-6791"},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ginevra Castellano","raw_affiliation_strings":["Department of Information Technology, Uppsala University, Uppsala, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Technology, Uppsala University, Uppsala, Sweden","institution_ids":["https://openalex.org/I123387679"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983999729156494,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9966999888420105,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9825999736785889,"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":0.8498138189315796},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7114028930664062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6467620134353638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6299716234207153},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5814433097839355},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5640726685523987},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5579869151115417},{"id":"https://openalex.org/keywords/behavior-based-robotics","display_name":"Behavior-based robotics","score":0.5578895211219788},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.5327848196029663},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.47099965810775757},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.46654534339904785},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4649929106235504},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4624249339103699},{"id":"https://openalex.org/keywords/human-behavior","display_name":"Human behavior","score":0.4552135169506073},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3894045948982239},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.22888585925102234},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.20455175638198853},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.12675759196281433},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07368811964988708}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8498138189315796},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7114028930664062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6467620134353638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6299716234207153},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5814433097839355},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5640726685523987},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5579869151115417},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.5578895211219788},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.5327848196029663},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.47099965810775757},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.46654534339904785},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4649929106235504},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4624249339103699},{"id":"https://openalex.org/C117035363","wikidata":"https://www.wikidata.org/wiki/Q3769299","display_name":"Human behavior","level":2,"score":0.4552135169506073},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3894045948982239},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.22888585925102234},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.20455175638198853},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.12675759196281433},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07368811964988708},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man46459.2019.8956444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man46459.2019.8956444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W207072138","https://openalex.org/W1505713416","https://openalex.org/W1522301498","https://openalex.org/W1563725677","https://openalex.org/W1757796397","https://openalex.org/W1953658749","https://openalex.org/W1968962398","https://openalex.org/W1990671169","https://openalex.org/W2039564256","https://openalex.org/W2053910308","https://openalex.org/W2064675550","https://openalex.org/W2067589702","https://openalex.org/W2094024286","https://openalex.org/W2102832719","https://openalex.org/W2145339207","https://openalex.org/W2155007355","https://openalex.org/W2156936825","https://openalex.org/W2166836680","https://openalex.org/W2176412452","https://openalex.org/W2194775991","https://openalex.org/W2292220267","https://openalex.org/W2293527364","https://openalex.org/W2296691800","https://openalex.org/W2414920489","https://openalex.org/W2555443888","https://openalex.org/W2567015638","https://openalex.org/W2570651606","https://openalex.org/W2595845486","https://openalex.org/W2736601468","https://openalex.org/W2748604175","https://openalex.org/W2754517384","https://openalex.org/W2764258133","https://openalex.org/W2782851602","https://openalex.org/W2790734939","https://openalex.org/W2889987506","https://openalex.org/W2899802586","https://openalex.org/W2900377066","https://openalex.org/W2908560371","https://openalex.org/W2919115771","https://openalex.org/W2962899390","https://openalex.org/W2963102771","https://openalex.org/W2963285578","https://openalex.org/W2963634205","https://openalex.org/W2964121744","https://openalex.org/W2964161785","https://openalex.org/W2964248288","https://openalex.org/W3110859496","https://openalex.org/W4211133235","https://openalex.org/W4246198318","https://openalex.org/W4251341923","https://openalex.org/W4297795161","https://openalex.org/W4298857966","https://openalex.org/W6631190155","https://openalex.org/W6633670699","https://openalex.org/W6637967152","https://openalex.org/W6682849425","https://openalex.org/W6685562342","https://openalex.org/W6688347243","https://openalex.org/W6731334075","https://openalex.org/W6734827232","https://openalex.org/W6741002519","https://openalex.org/W6744123322","https://openalex.org/W6744354654","https://openalex.org/W6747446213","https://openalex.org/W6753526802","https://openalex.org/W6786390162","https://openalex.org/W7018109952"],"related_works":["https://openalex.org/W2724299411","https://openalex.org/W1806442025","https://openalex.org/W1991204540","https://openalex.org/W2030825785","https://openalex.org/W2766140862","https://openalex.org/W4225138431","https://openalex.org/W4205830498","https://openalex.org/W2999888342","https://openalex.org/W2808171219","https://openalex.org/W2968755423"],"abstract_inverted_index":{"Deep":[0],"reinforcement":[1],"learning":[2,36,79],"has":[3],"recently":[4],"been":[5],"widely":[6],"applied":[7],"in":[8,47,80,91,105],"robotics":[9],"to":[10,21,52,68,128],"study":[11,108,113],"tasks":[12],"such":[13],"as":[14,69],"locomotion":[15],"and":[16,49,93,102,109],"grasping,":[17],"but":[18],"its":[19],"application":[20],"social":[22,81],"human-robot":[23],"interaction":[24,54],"(HRI)":[25],"remains":[26],"a":[27,34,40,56,106,110,129],"challenge.":[28],"In":[29],"this":[30],"paper,":[31],"we":[32,66],"present":[33],"deep":[35],"scheme":[37],"that":[38,119],"acquires":[39],"prior":[41],"model":[42,99,121],"of":[43,61,78,97],"robot":[44,58,85],"approaching":[45,59,86],"behavior":[46,126],"simulation":[48,92],"applies":[50],"it":[51],"real-world":[53],"with":[55,114],"physical":[57],"groups":[60,90],"humans.":[62],"The":[63],"scheme,":[64],"which":[65],"refer":[67],"Staged":[70],"Social":[71],"Behavior":[72],"Learning":[73],"(SSBL),":[74],"considers":[75],"different":[76],"stages":[77],"scenarios.":[82],"We":[83],"learn":[84],"behaviors":[87],"towards":[88],"small":[89],"evaluate":[94],"the":[95,98],"performance":[96],"using":[100],"objective":[101],"subjective":[103],"measures":[104],"perceptual":[107],"HRI":[111],"user":[112],"human":[115],"participants.":[116],"Results":[117],"show":[118],"our":[120],"generates":[122],"more":[123],"socially":[124],"appropriate":[125],"compared":[127],"state-of-the-art":[130],"model.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}