Pré-Publication, Document De Travail (Preprint/Prepublication) Année : 2026

NavWareSet: A Dataset of Socially Compliant and Non-Compliant Robot Navigation

Résumé

This paper presents NavWareSet, a novel dataset crafted to advance socially compliant robot navigation research. NavWareSet provides multi-modal recordings of both socially compliant and non-compliant robot trajectories in controlled indoor environments. Drawing upon seven carefully selected scenarios, it captures complex human-robot interactions and a range of navigation challenges that mirror realistic social contexts. NavWareSet establishes a rich benchmark for evaluating and training navigation algorithms by incorporating two distinct robot platforms - Toyota Human Support Robot (HSR) and Clearpath's Jackal - and systematically varying their navigation behaviors. With data modalities spanning lidar, RGB-D camera, odometry, and human position annotations, NavWareSet enables finegrained analysis of the robot's decision-making process and its impact on human comfort and safety. Ultimately, this dataset provides a versatile resource for developing robust, ethically guided navigation policies and for measuring their performance across a range of social situations. More information can be seen at: https://anr-navware. github.io/navwareset/.

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Dates et versions

hal-05231729 , version 1 (31-08-2025)
hal-05231729 , version 2 (16-04-2026)

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  • HAL Id : hal-05231729 , version 2

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Johnata Brayan, S. Deng, Armando Alves Neto, Iaroslav Okunevich, Tomas Krajnik, et al.. NavWareSet: A Dataset of Socially Compliant and Non-Compliant Robot Navigation. 2026. ⟨hal-05231729v2⟩
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