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Computer Science > Robotics

arXiv:2204.05443 (cs)
[Submitted on 11 Apr 2022 (v1), last revised 30 Apr 2022 (this version, v2)]

Title:A Protocol for Validating Social Navigation Policies

Authors:Sören Pirk, Edward Lee, Xuesu Xiao, Leila Takayama, Anthony Francis, Alexander Toshev
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Abstract:Enabling socially acceptable behavior for situated agents is a major goal of recent robotics research. Robots should not only operate safely around humans, but also abide by complex social norms. A key challenge for developing socially-compliant policies is measuring the quality of their behavior. Social behavior is enormously complex, making it difficult to create reliable metrics to gauge the performance of algorithms. In this paper, we propose a protocol for social navigation benchmarking that defines a set of canonical social navigation scenarios and an in-situ metric for evaluating performance on these scenarios using questionnaires. Our experiments show this protocol is realistic, scalable, and repeatable across runs and physical spaces. Our protocol can be replicated verbatim or it can be used to define a social navigation benchmark for novel scenarios. Our goal is to introduce a protocol for benchmarking social scenarios that is homogeneous and comparable.
Comments: IEEE International Conference on Robotics and Automation; Workshop: Social Robot Navigation: Advances and Evaluation
Subjects: Robotics (cs.RO); Human-Computer Interaction (cs.HC)
Cite as: arXiv:2204.05443 [cs.RO]
  (or arXiv:2204.05443v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2204.05443

Submission history

From: Soren Pirk [view email]
[v1] Mon, 11 Apr 2022 23:38:04 UTC (4,739 KB)
[v2] Sat, 30 Apr 2022 02:50:01 UTC (2,883 KB)
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