Social navigation research is performed on a variety of robotic platforms, scenarios, and environments. Making comparisons between navigation algorithms is challenging because of the effort involved in building these systems and the diversity of platforms used by the community; nonetheless, evaluation is critical to understanding progress in the field. In a step towards reproducible evaluation of social navigation algorithms, we propose the Social Environment for Autonomous Navigation (SEAN). SEAN is a high visual fidelity, open source, and extensible social navigation simulation platform which includes a toolkit for evaluation of navigation algorithms. We demonstrate SEAN and its evaluation toolkit in two environments with dynamic pedestrians and using two different robots.

中文翻译：

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SEAN：自主导航的社会环境

社交导航研究是在各种机器人平台、场景和环境上进行的。由于构建这些系统所涉及的工作以及社区使用的平台的多样性，在导航算法之间进行比较具有挑战性；尽管如此，评价对于了解该领域的进展至关重要。为了对社交导航算法进行可重复的评估，我们提出了自主导航的社交环境 (SEAN)。SEAN 是一个高视觉保真度、开源和可扩展的社交导航模拟平台，其中包括一个用于评估导航算法的工具包。我们在具有动态行人和使用两个不同机器人的两个环境中演示了 SEAN 及其评估工具包。