{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/following-the-human-thread-in-social","title":"Following the Human Thread in Social Navigation","arxiv_id":"2404.11327","date":"2024-04-17","proceeding":null,"authors":["Luca Scofano","Alessio Sampieri","Tommaso Campari","Valentino Sacco","Indro Spinelli","Lamberto Ballan","Fabio Galasso"],"abstract":"The success of collaboration between humans and robots in shared environments relies on the robot's real-time adaptation to human motion. Specifically, in Social Navigation, the agent should be close enough to assist but ready to back up to let the human move freely, avoiding collisions. Human trajectories emerge as crucial cues in Social Navigation, but they are partially observable from the robot's egocentric view and computationally complex to process. We present the first Social Dynamics Adaptation model (SDA) based on the robot's state-action history to infer the social dynamics. We propose a two-stage Reinforcement Learning framework: the first learns to encode the human trajectories into social dynamics and learns a motion policy conditioned on this encoded information, the current status, and the previous action. Here, the trajectories are fully visible, i.e., assumed as privileged information. In the second stage, the trained policy operates without direct access to trajectories. Instead, the model infers the social dynamics solely from the history of previous actions and statuses in real-time. Tested on the novel Habitat 3.0 platform, SDA sets a novel state-of-the-art (SotA) performance in finding and following humans. The code can be found at https://github.com/L-Scofano/SDA.","url_abs":"https://arxiv.org/abs/2404.11327v2","url_pdf":"https://arxiv.org/pdf/2404.11327v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"following-the-human-thread-in-social","repo_url":"https://github.com/l-scofano/sda","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"social-navigation","task_name":"Social Navigation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2404.11327","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2404.11327"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"deterministic:regex_extraction","url":"https://github.com/L-Scofano/SDA","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/l-scofano/sda","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"ran":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"8e85ec247da5c1d7","entry":"omegaconf_to_object","repo":"L-Scofano/SDA","repo_kind":"official","path":"habitat-hitl/habitat_hitl/core/hydra_utils.py","file_url":"https://github.com/L-Scofano/SDA/blob/HEAD/habitat-hitl/habitat_hitl/core/hydra_utils.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"8e85ec247da5c1d7"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}