{"id":"https://openalex.org/W7135046098","doi":"https://doi.org/10.1145/3776734.3794437","title":"RBTLR: A Framework for Safe Social Robot Navigation in Novel Human-Centric Environments","display_name":"RBTLR: A Framework for Safe Social Robot Navigation in Novel Human-Centric Environments","publication_year":2026,"publication_date":"2026-03-12","ids":{"openalex":"https://openalex.org/W7135046098","doi":"https://doi.org/10.1145/3776734.3794437"},"language":null,"primary_location":{"id":"doi:10.1145/3776734.3794437","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3776734.3794437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","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/A5128852913","display_name":"Nayesha Gandotra","orcid":null},"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":true,"raw_author_name":"Nayesha Gandotra","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, USA"],"raw_orcid":"https://orcid.org/0009-0008-2367-678X","affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5128852913"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.5066732,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"461","last_page":"465"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.6087999939918518,"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":0.6087999939918518,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.26019999384880066,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.029600000008940697,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/pipeline","display_name":"Pipeline (software)","score":0.6162999868392944},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5776000022888184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5684999823570251},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5568000078201294},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5437999963760376},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5425000190734863},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.512499988079071},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4943999946117401},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4431000053882599}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6474000215530396},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6162999868392944},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5776000022888184},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5699999928474426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5684999823570251},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5568000078201294},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5437999963760376},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5425000190734863},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.512499988079071},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4943999946117401},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48840001225471497},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4431000053882599},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.426800012588501},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3666999936103821},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.35010001063346863},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3434000015258789},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3393000066280365},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.337799996137619},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.33480000495910645},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.32100000977516174},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2766999900341034},{"id":"https://openalex.org/C117035363","wikidata":"https://www.wikidata.org/wiki/Q3769299","display_name":"Human behavior","level":2,"score":0.27230000495910645},{"id":"https://openalex.org/C183322885","wikidata":"https://www.wikidata.org/wiki/Q17007702","display_name":"Context model","level":3,"score":0.2513999938964844},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3776734.3794437","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3776734.3794437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W46490633","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2963129648","https://openalex.org/W3003205975","https://openalex.org/W3116651890","https://openalex.org/W3134972302","https://openalex.org/W4383097638","https://openalex.org/W4405786021"],"related_works":[],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"are":[2],"increasingly":[3],"prevalent":[4],"in":[5,139],"human-centric":[6],"environments":[7],"such":[8],"as":[9],"restaurants,":[10],"hospitals,":[11],"and":[12,28,104,114,132,183,188],"public":[13],"facilities.":[14],"A":[15],"critical":[16],"challenge":[17],"is":[18,156],"developing":[19],"navigation":[20,143],"policies":[21],"that":[22,127],"balance":[23],"efficiency":[24],"with":[25,45,94],"human":[26,40],"safety":[27],"social":[29,36,75,169],"norms.":[30],"Traditional":[31],"approaches":[32],"rely":[33],"on":[34,80,101,192],"hand-crafted":[35],"cost":[37],"functions":[38],"or":[39,47],"trajectory":[41,82,97],"prediction,":[42],"which":[43,164],"struggle":[44],"generalization":[46],"real-time":[48],"performance.":[49],"End-to-end":[50],"learning":[51],"methods":[52],"offer":[53],"flexibility":[54],"but":[55,77,145],"often":[56],"require":[57],"large-scale":[58],"human-robot":[59,152],"data.":[60],"Recent":[61],"work":[62],"like":[63],"OLiVia-Nav":[64],"[Narasimhan":[65],"et":[66],"al,":[67],"2024]":[68],"shows":[69],"promise":[70],"using":[71],"vision-language":[72],"models":[73],"for":[74,196],"reasoning,":[76,113],"still":[78],"depends":[79],"learned":[81,96],"generators.":[83],"We":[84,135],"present":[85,184],"a":[86,95,119,140],"modular":[87],"pipeline":[88,148,181],"combining":[89],"fast":[90],"search-based":[91],"motion":[92],"planning":[93,131],"selector":[98],"jointly":[99],"trained":[100],"visual":[102],"embeddings":[103],"candidate":[105],"trajectories.":[106],"Additionally,":[107],"to":[108,150],"support":[109],"long-horizon":[110],"behavior,":[111],"complex":[112],"user":[115],"feedback,":[116],"we":[117,177,189],"integrate":[118],"Large":[120],"Language":[121],"Model":[122],"(LLM)-driven":[123],"goal":[124],"assignment":[125],"module":[126],"enables":[128],"high-level":[129],"task":[130],"contextual":[133],"adaptability.":[134],"demonstrate":[136],"our":[137,147],"approach":[138],"simulated":[141],"restaurant":[142],"setting,":[144],"importantly,":[146],"generalizes":[149],"novel":[151],"interaction":[153],"scenarios.":[154],"This":[155],"made":[157],"possible":[158],"by":[159],"the":[160,180],"use":[161],"of":[162,168],"VLMs,":[163],"provide":[165],"zero-shot":[166],"understanding":[167],"context":[170],"without":[171],"task-specific":[172],"pretraining.":[173],"In":[174],"this":[175,193],"paper,":[176],"primarily":[178],"propose":[179],"architecture":[182],"early":[185],"experimental":[186],"results,":[187],"welcome":[190],"feedback":[191],"new":[194],"direction":[195],"scalable,":[197],"socially-aware":[198],"robot":[199],"navigation.":[200]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-03-13T00:00:00"}