Perspective-Shifted Neuro-Symbolic World Models: A Framework for Socially-Aware Robot Navigation

Navigating in environments alongside humans requires agents to reason under uncertainty and account for the beliefs and intentions of those around them. Under a sequential decision-making framework, egocentric navigation can naturally be represented as a Markov Decision Process (MDP). However, social navigation additionally requires reasoning about the hidden beliefs of others, inherently leading to a Partially Observable Markov Decision Process (POMDP), where agents lack direct access to others' mental states. Inspired by Theory of Mind and Epistemic Planning, we propose (1) a neuro-symbolic model-based reinforcement learning architecture for social navigation, addressing the challenge of belief tracking in partially observable environments; and (2) a perspective-shift operator for belief estimation, leveraging recent work on Influence-based Abstractions (IBA) in structured multi-agent settings.

@article{alcedo2025_2503.20425,
  title={ Perspective-Shifted Neuro-Symbolic World Models: A Framework for Socially-Aware Robot Navigation },
  author={ Kevin Alcedo and Pedro U. Lima and Rachid Alami },
  journal={arXiv preprint arXiv:2503.20425},
  year={ 2025 }
}