Abstract:Social, also called human-aware, navigation is a key challenge for integrating mobile robots into human environments. The evaluation of such systems is complex, as factors such as comfort, safety, and legibility must be considered. Human-centered assessments, typically conducted through surveys, provide reliable insights but are costly, resource-intensive, and difficult to reproduce or compare across systems. Alternatively, numerical social navigation metrics are easy to compute and facilitate comparisons, yet the community lacks consensus on a standard set of metrics.
This work explores the relationship between numerical metrics and human-centered evaluations to identify potential correlations. If specific quantitative measures align with human perceptions, they could serve as preliminary benchmarking tools, providing a human-aligned assessment when large-scale surveys are not feasible. Our results indicate that while current metrics capture some aspects of robot navigation behavior, important subjective factors remain insufficiently represented, necessitating new metrics.
From: Mauro Martini [view email]
[v1]
Fri, 3 Oct 2025 12:34:32 UTC (1,825 KB)
[v2]
Thu, 30 Jul 2026 09:16:45 UTC (2,071 KB)
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