{"id":"https://openalex.org/W7133309194","doi":"https://doi.org/10.48550/arxiv.2603.00507","title":"Optimal-Horizon Social Robot Navigation in Heterogeneous Crowds","display_name":"Optimal-Horizon Social Robot Navigation in Heterogeneous Crowds","publication_year":2026,"publication_date":"2026-02-28","ids":{"openalex":"https://openalex.org/W7133309194","doi":"https://doi.org/10.48550/arxiv.2603.00507"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.00507","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00507","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.00507","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5127875144","display_name":"Jiamin Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Shi, Jiamin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127874496","display_name":"Haolin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Haolin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087595253","display_name":"Yuchen Yan","orcid":"https://orcid.org/0000-0002-9340-7904"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Yuchen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127883757","display_name":"Shitao Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Shitao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Xin, Jingmin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xin, Jingmin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5127939959","display_name":"Nanning Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Nanning","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5127875144"],"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":0.6129000186920166,"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":0.6129000186920166,"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":0.13940000534057617,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.08709999918937683,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/crowds","display_name":"Crowds","score":0.6150000095367432},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5267000198364258},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45969998836517334},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43479999899864197},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.41510000824928284},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.41130000352859497},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.40290001034736633},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3962000012397766}],"concepts":[{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.6150000095367432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5662000179290771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5267000198364258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4609000086784363},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45969998836517334},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43479999899864197},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.41510000824928284},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.41130000352859497},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.40290001034736633},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3962000012397766},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.3684000074863434},{"id":"https://openalex.org/C2779293179","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Social force model","level":3,"score":0.36340001225471497},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3353999853134155},{"id":"https://openalex.org/C187206662","wikidata":"https://www.wikidata.org/wiki/Q55607920","display_name":"Social dilemma","level":2,"score":0.31470000743865967},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29809999465942383},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.29010000824928284},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.2851000130176544},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.2768999934196472},{"id":"https://openalex.org/C44042526","wikidata":"https://www.wikidata.org/wiki/Q1355183","display_name":"Crowd psychology","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C79416737","wikidata":"https://www.wikidata.org/wiki/Q2305519","display_name":"Social learning","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2662999927997589}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.00507","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00507","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.00507","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00507","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Navigating":[0],"social":[1,39,51,98,109,125,173],"robots":[2],"in":[3,65,175,190,224],"dense,":[4],"dynamic":[5],"crowds":[6],"is":[7,169],"challenging":[8],"due":[9],"to":[10,35,107,151,180],"environmental":[11],"uncertainty":[12],"and":[13,38,53,155,160,197,220,228],"complex":[14],"human-robot":[15],"interactions.":[16],"While":[17],"Model":[18],"Predictive":[19],"Control":[20],"(MPC)":[21],"offers":[22],"strong":[23],"real-time":[24],"performance,":[25],"its":[26],"reliance":[27],"on":[28,91],"a":[29,79,86,128,139,187,204],"fixed":[30,87],"prediction":[31,136],"horizon":[32,77,137],"limits":[33],"adaptability":[34],"changing":[36],"environments":[37],"dynamics.":[40],"Furthermore,":[41],"most":[42],"MPC":[43,103,145],"approaches":[44],"treat":[45],"pedestrians":[46],"as":[47,78,124],"homogeneous":[48],"obstacles,":[49],"ignoring":[50],"heterogeneity":[52],"cooperative":[54],"or":[55],"adversarial":[56],"interactions,":[57],"which":[58,122],"often":[59],"causes":[60],"the":[61,75,135,183,211],"Frozen":[62],"Robot":[63],"Problem":[64],"partially":[66,176],"observable":[67,177],"real-world":[68,161],"environments.":[69,226],"In":[70],"this":[71,92],"paper,":[72],"we":[73,94],"identify":[74],"planning":[76,216],"socially":[80,147,214],"conditioned":[81,148],"decision":[82],"variable":[83],"rather":[84],"than":[85],"design":[88],"choice.":[89],"Building":[90],"insight,":[93],"propose":[95],"an":[96],"optimal-horizon":[97],"navigation":[99,153,174,199,223],"framework":[100],"that":[101,132,165],"optimizes":[102],"foresight":[104,167],"online":[105],"according":[106],"inferred":[108],"context.":[110],"A":[111],"spatio-temporal":[112],"Transformer":[113],"infers":[114],"pedestrian":[115],"cooperation":[116],"attributes":[117],"from":[118],"local":[119],"trajectory":[120],"observations,":[121],"serve":[123],"priors":[126],"for":[127,171,218],"reinforcement":[129],"learning":[130],"policy":[131],"optimally":[133],"selects":[134],"under":[138],"task-driven":[140],"objective.":[141],"The":[142],"resulting":[143],"horizon-aware":[144],"incorporates":[146],"safety":[149],"constraints":[150],"balance":[152],"efficiency":[154],"interaction":[156],"safety.":[157],"Extensive":[158],"simulations":[159],"robot":[162,222],"experiments":[163],"demonstrate":[164],"optimal":[166,215],"selection":[168],"critical":[170],"robust":[172],"crowds.":[178],"Compared":[179],"state-of-the-art":[181],"baselines,":[182],"proposed":[184],"approach":[185],"achieves":[186],"6.8\\%":[188],"improvement":[189],"success":[191],"rate,":[192],"reduces":[193],"collisions":[194],"by":[195,201],"50\\%,":[196],"shortens":[198],"time":[200],"19\\%,":[202],"with":[203],"low":[205],"timeout":[206],"rate":[207],"of":[208,213],"0.8\\%,":[209],"validating":[210],"necessity":[212],"horizons":[217],"efficient":[219],"safe":[221],"crowded":[225],"Code":[227],"videos":[229],"are":[230],"available":[231],"at":[232],"Under":[233],"Review.":[234]},"counts_by_year":[],"updated_date":"2026-03-25T23:56:10.502304","created_date":"2026-03-04T00:00:00"}
