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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