{"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/hunavsim-a-ros-2-human-navigation-simulator","title":"HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation","arxiv_id":"2305.01303","date":"2023-05-02","proceeding":null,"authors":["Noé Pérez-Higueras","Roberto Otero","Fernando Caballero","Luis Merino"],"abstract":"This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2 framework, can be employed along with different well-known robotics simulators like Gazebo. The main goal is to ease the development and evaluation of human-aware robot navigation systems in simulation. Besides a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and realistic human navigation behaviors and a complete set of metrics for social navigation benchmarking.","url_abs":"https://arxiv.org/abs/2305.01303v3","url_pdf":"https://arxiv.org/pdf/2305.01303v3.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":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"hunavsim-a-ros-2-human-navigation-simulator","repo_url":"https://github.com/robotics-upo/hunav_sim","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}