{"id":"https://openalex.org/W7135229160","doi":"https://doi.org/10.48550/arxiv.2603.11290","title":"A Causal Approach to Predicting and Improving Human Perceptions of Social Navigation Robots","display_name":"A Causal Approach to Predicting and Improving Human Perceptions of Social Navigation Robots","publication_year":2026,"publication_date":"2026-03-11","ids":{"openalex":"https://openalex.org/W7135229160","doi":"https://doi.org/10.48550/arxiv.2603.11290"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.11290","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11290","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.11290","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003959756","display_name":"Maximilian Diehl","orcid":"https://orcid.org/0000-0001-9323-8293"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Diehl, Maximilian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010430038","display_name":"Nathan Tsoi","orcid":"https://orcid.org/0000-0003-0823-4859"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsoi, Nathan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129048557","display_name":"Gustavo Chavez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chavez, Gustavo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085467629","display_name":"Karinne Ram\u00edrez-Amaro","orcid":"https://orcid.org/0000-0003-4600-1722"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ramirez-Amaro, Karinne","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5041256504","display_name":"Marynel V\u00e1zquez","orcid":"https://orcid.org/0000-0003-0698-5472"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"V\u00e1zquez, Marynel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.940500020980835,"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"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.940500020980835,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.01080000028014183,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.006000000052154064,"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/interpretability","display_name":"Interpretability","score":0.8325999975204468},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6358000040054321},{"id":"https://openalex.org/keywords/counterfactual-thinking","display_name":"Counterfactual thinking","score":0.5983999967575073},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.551800012588501},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5360000133514404},{"id":"https://openalex.org/keywords/competence","display_name":"Competence (human resources)","score":0.49549999833106995},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.48410001397132874}],"concepts":[{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.8325999975204468},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6358000040054321},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6176000237464905},{"id":"https://openalex.org/C108650721","wikidata":"https://www.wikidata.org/wiki/Q1783253","display_name":"Counterfactual thinking","level":2,"score":0.5983999967575073},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.551800012588501},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5360000133514404},{"id":"https://openalex.org/C100521375","wikidata":"https://www.wikidata.org/wiki/Q2015382","display_name":"Competence (human resources)","level":2,"score":0.49549999833106995},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4846000075340271},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.48410001397132874},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43619999289512634},{"id":"https://openalex.org/C33724603","wikidata":"https://www.wikidata.org/wiki/Q812540","display_name":"Bayesian network","level":2,"score":0.374099999666214},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35920000076293945},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3589000105857849},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.33719998598098755},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.33250001072883606},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31630000472068787},{"id":"https://openalex.org/C11671645","wikidata":"https://www.wikidata.org/wiki/Q5054567","display_name":"Causal model","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.28349998593330383},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2793999910354614},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.11290","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11290","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.11290","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11290","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.5065059661865234,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"As":[0],"mobile":[1,116],"robots":[2],"are":[3],"increasingly":[4],"deployed":[5],"in":[6,204],"human":[7],"environments,":[8],"enabling":[9],"them":[10,16],"to":[11,48,82,90,110,133,148,169,193],"predict":[12,111],"how":[13,112,120],"people":[14,113],"perceive":[15,114],"is":[17,25,55,61],"critical":[18],"for":[19,27,179],"socially":[20],"adaptable":[21],"navigation.":[22,126],"Predicting":[23],"perceptions":[24],"challenging":[26],"two":[28],"main":[29],"reasons:":[30],"(1)":[31],"HRI":[32],"prediction":[33],"models":[34,44],"must":[35,45],"learn":[36],"from":[37,74],"limited":[38],"data,":[39],"and":[40,51,86,119,157,177,181],"(2)":[41],"the":[42,67,75,80,144,195,220],"obtained":[43],"be":[46],"interpretable":[47],"enable":[49],"safe":[50],"effective":[52],"interactions.":[53],"Interpretability":[54],"particularly":[56],"important":[57],"when":[58,66],"a":[59,105,115,130,139,184,211],"robot":[60,68,81,136,160,197,208,225],"perceived":[62,135,196,221],"as":[63,77],"incompetent":[64],"(e.g.,":[65],"suddenly":[69],"stops":[70],"or":[71,165],"rotates":[72],"away":[73],"goal),":[76],"it":[78],"allows":[79],"explain":[83],"its":[84,123],"reasoning":[85],"identify":[87,149],"controllable":[88],"factors":[89],"improve":[91,134,194],"performance,":[92],"requiring":[93],"causal":[94,146],"rather":[95],"than":[96],"associative":[97],"reasoning.":[98],"To":[99,187],"address":[100],"these":[101],"challenges,":[102],"we":[103,128,199],"propose":[104],"Causal":[106],"Bayesian":[107],"Network":[108],"designed":[109],"robot's":[117],"competence":[118,137,180,222],"they":[121],"interpret":[122],"intent":[124],"during":[125],"Additionally,":[127],"introduce":[129],"novel":[131],"method":[132,154,216],"employing":[138],"combinatorial":[140],"search,":[141],"guided":[142],"by":[143,227],"proposed":[145],"model,":[147],"better":[150],"navigation":[151],"behaviors.":[152],"Our":[153,215],"enhances":[155],"interpretability":[156],"generates":[158],"counterfactual":[159],"motions":[161],"while":[162],"achieving":[163],"comparable":[164],"superior":[166],"predictive":[167],"performance":[168],"state-of-the-art":[170],"methods,":[171],"reaching":[172],"an":[173,201],"F1-score":[174],"of":[175,223],"0.78":[176],"0.75":[178],"intention":[182],"on":[183,210],"binary":[185],"scale.":[186,214],"further":[188],"assess":[189],"our":[190],"method's":[191],"ability":[192],"competence,":[198],"conducted":[200],"online":[202],"evaluation":[203],"which":[205],"users":[206],"rated":[207],"behaviors":[209],"5-point":[212],"Likert":[213],"statistically":[217],"significantly":[218],"increased":[219],"low-competent":[224],"behavior":[226],"83%.":[228]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-14T00:00:00"}