{"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/perspective-shifted-neuro-symbolic-world","title":"Perspective-Shifted Neuro-Symbolic World Models: A Framework for Socially-Aware Robot Navigation","arxiv_id":"2503.20425","date":"2025-03-26","proceeding":null,"authors":["Kevin Alcedo","Pedro U. Lima","Rachid Alami"],"abstract":"Navigating in environments alongside humans requires agents to reason under uncertainty and account for the beliefs and intentions of those around them. Under a sequential decision-making framework, egocentric navigation can naturally be represented as a Markov Decision Process (MDP). However, social navigation additionally requires reasoning about the hidden beliefs of others, inherently leading to a Partially Observable Markov Decision Process (POMDP), where agents lack direct access to others' mental states. Inspired by Theory of Mind and Epistemic Planning, we propose (1) a neuro-symbolic model-based reinforcement learning architecture for social navigation, addressing the challenge of belief tracking in partially observable environments; and (2) a perspective-shift operator for belief estimation, leveraging recent work on Influence-based Abstractions (IBA) in structured multi-agent settings.","url_abs":"https://arxiv.org/abs/2503.20425v1","url_pdf":"https://arxiv.org/pdf/2503.20425v1.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":"perspective-shifted-neuro-symbolic-world","repo_url":"https://github.com/alcedok/SocialNav_paper","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"decision-making","task_name":"Decision Making"},{"task_slug":"model-based-reinforcement-learning","task_name":"Model-based Reinforcement Learning"},{"task_slug":"robot-navigation","task_name":"Robot Navigation"},{"task_slug":"sequential-decision-making","task_name":"Sequential Decision Making"},{"task_slug":"social-navigation","task_name":"Social Navigation"}],"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}