Bi3: A Biplatform, Bicultural, Biperson Dataset for Social Robot Navigation
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866911659125112832 |
|---|---|
| author | Stratton, Andrew Singamaneni, Phani Teja Goyal, Pranav Alami, Rachid Mavrogiannis, Christoforos |
| author_facet | Stratton, Andrew Singamaneni, Phani Teja Goyal, Pranav Alami, Rachid Mavrogiannis, Christoforos |
| contents | We contribute Bi3, a dataset of social robot navigation among groups of people in a constrained lab space. Compared to prior data collection efforts for social robot navigation, our dataset is unique in that it features: an original experiment design giving rise to close navigation encounters between two humans and a robot; five different navigation algorithms; two different robot platforms; a diverse participant pool of 74 people recruited from two sites in the USA and France; multimodal data streams including 10.5 hours of human and robot ground-truth motion tracks, RGB video, and user impressions over robot performance. Our analysis of the collected dataset through metrics like interaction density and human velocity suggests that Bi3 represents a benchmark of unique diversity and modeling complexity. Bi3 contributes towards understanding how humans and robots can productively mesh their activities in constrained environments, and can be a resource for training models of human motion prediction and robot control policies for navigation in densely crowded spaces. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_06863 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Bi3: A Biplatform, Bicultural, Biperson Dataset for Social Robot Navigation Stratton, Andrew Singamaneni, Phani Teja Goyal, Pranav Alami, Rachid Mavrogiannis, Christoforos Robotics Human-Computer Interaction I.2.6; I.2.8; I.2.9 We contribute Bi3, a dataset of social robot navigation among groups of people in a constrained lab space. Compared to prior data collection efforts for social robot navigation, our dataset is unique in that it features: an original experiment design giving rise to close navigation encounters between two humans and a robot; five different navigation algorithms; two different robot platforms; a diverse participant pool of 74 people recruited from two sites in the USA and France; multimodal data streams including 10.5 hours of human and robot ground-truth motion tracks, RGB video, and user impressions over robot performance. Our analysis of the collected dataset through metrics like interaction density and human velocity suggests that Bi3 represents a benchmark of unique diversity and modeling complexity. Bi3 contributes towards understanding how humans and robots can productively mesh their activities in constrained environments, and can be a resource for training models of human motion prediction and robot control policies for navigation in densely crowded spaces. |
| title | Bi3: A Biplatform, Bicultural, Biperson Dataset for Social Robot Navigation |
| topic | Robotics Human-Computer Interaction I.2.6; I.2.8; I.2.9 |
| url | https://arxiv.org/abs/2605.06863 |