提出责任与参与度新指标，量化机器人互动中冲突解决的贡献与激化程度。
Responsibility and Engagement -- Evaluating Interactions in Social Robot Navigation
- 引入时间归一化建模冲突积累过程，提升责任评估精度。
- 提出参与度指标，反映行为对冲突升级的影响。
- 适用于评估机器人在多人交互中的协作质量与前瞻能力。
在社交机器人导航（SRN）中，有意义的评估指标对于衡量人机交互轨迹至关重要。此类交互常涉及多个代理间冲突的解决，各方对冲突化解的贡献程度尤为关键。本文基于近期提出的责任度量方法，从两方面进行扩展：首先，通过引入时间归一化建模冲突积累阶段；其次，提出新的参与度度量，用于捕捉各代理行为对冲突激化的程度。在包含成对、群体及人群互动的多组仿真场景中，验证了这两项指标能有效反映互动中冲突的协同化解情况，可用于评估行为质量与前瞻性。论文还深入讨论了度量方法的适用性、设计选择及局限性。
原文摘要 · Abstract (English)
In Social Robot Navigation (SRN), the availability of meaningful metrics is crucial for evaluating trajectories from human-robot interactions. In the SRN context, such interactions often relate to resolving conflicts between two or more agents. Correspondingly, the shares to which agents contribute to the resolution of such conflicts are important. This paper builds on recent work, which proposed a Responsibility metric capturing such shares. We extend this framework in two directions: First, we model the conflict buildup phase by introducing a time normalization. Second, we propose the related Engagement metric, which captures how the agents' actions intensify a conflict. In a comprehensive series of simulated scenarios with dyadic, group and crowd interactions, we show that the metrics carry meaningful information about the cooperative resolution of conflicts in interactions. They can be used to assess behavior quality and foresightedness. We extensively discuss applicability, design choices and limitations of the proposed metrics.
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