Social compatibility is one of the most important parameters for service robots. It characterizes the quality of interaction between a robot and a human. In this paper, a human-centered benchmarking framework is proposed for socially-compliant robot navigation. In an end-to-end manner, four open-source robot navigation methods are benchmarked, two of which are socially-compliant. All aspects of the benchmarking are clarified to ensure the reproducibility and replicability of the experiments. The social compatibility of robot navigation methods with the Robotic Social Attributes Scale (RoSAS) is measured. After that, the correspondence between RoSAS and the robot-centered metrics is validated. Based on experiments, the extra robot time ratio and the extra distance ratio are the most suitable to judge social compatibility.

翻译：社会兼容性是服务机器人的最重要参数之一，它表征了机器人与人之间的交互质量。本文提出了一种以人为中心的社会合规机器人导航基准测试框架。以端到端的方式，对四种开源机器人导航方法进行了基准测试，其中两种方法具备社会合规性。为保障实验的可重复性与可复现性，所有基准测试环节均被阐明。通过机器人社会属性量表（RoSAS）测量了机器人导航方法的社会兼容性，进而验证了RoSAS与以机器人为中心的度量指标之间的对应关系。基于实验结果，额外机器人时间比与额外距离比是最适合用于评估社会兼容性的指标。