Human empowerment is proposed and simulated as a complementary metric for social robot navigation, but the implemented estimator does not match the defined maximization over policies.
Principles and guidelines for evaluating social robot navigation algorithms,
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In Search of a Lost Metric: Human Empowerment as a Pillar of Socially Conscious Navigation
Human empowerment is proposed and simulated as a complementary metric for social robot navigation, but the implemented estimator does not match the defined maximization over policies.