论文标题
以人为本的社会符合机器人的基准测试
Human-centered Benchmarking for Socially-compliant Robot Navigation
论文作者
论文摘要
社会兼容性是服务机器人最重要的参数之一。它表征了机器人和人之间相互作用的质量。在本文中，为符合社会符合的机器人导航提供了一个以人为本的基准测试框架。以端到端的方式，对四种开源机器人导航方法进行了基准测试，其中两种是符合社会的。阐明基准测试的所有方面，以确保实验的可重复性和可复制性。衡量了机器人导航方法与机器人社会属性量表（ROSA）的社会兼容性。之后，Rosas和以机器人为中心的指标之间的对应关系得到验证。根据实验，额外的机器人时间比率和额外的距离比最适合判断社会兼容性。
Social compatibility is one of the most important parameters for service robots. It characterizes the quality of interaction between a robot and a human. In this paper, a human-centered benchmarking framework is proposed for socially-compliant robot navigation. In an end-to-end manner, four open-source robot navigation methods are benchmarked, two of which are socially-compliant. All aspects of the benchmarking are clarified to ensure the reproducibility and replicability of the experiments. The social compatibility of robot navigation methods with the Robotic Social Attributes Scale (RoSAS) is measured. After that, the correspondence between RoSAS and the robot-centered metrics is validated. Based on experiments, the extra robot time ratio and the extra distance ratio are the most suitable to judge social compatibility.
