TRACER: Adaptive Multi-Robot Social Navigation via Joint Human-Response Prediction and Interaction-Aware Replanning

arXiv:2609.18776 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Comments: 9 pages, 5 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adaptation — 6× in this paper · explained in 1 episode
• Forward Response Model — 4× in this paper
• Ablation — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Heterogeneous Graph — 2× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• NavThinker: Action-Conditioned World Models for Coupled Prediction and Planning in Social Navigation
• PeRoI: A Pedestrian-Robot Interaction Dataset for Learning Avoidance, Neutrality, and Attraction Behaviors in Social Navigation
• SAGE: A Socially-Aware Generative Engine for Heterogeneous Multi-Agent Navigation
• AToM: Adaptive Theory-of-Mind-Based Human Motion Prediction in Long-Term Human-Robot Interactions
• Predicting Responses to a Robot's Future Motion using Generative Recurrent Neural Networks
• JPPD: Joint Prediction_Planning Diffusion with Differentiable Safety Guidance for Dynamic Obstacle Avoidance in Intelligent Transportation Systems
• Neural-ANOVA: Analytical Model Decomposition using Automatic Integration
• Bi3: A Biplatform, Bicultural, Biperson Dataset for Social Robot Navigation

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