ResearchBenchmarksSocial Navigation on Real-world Deployment NXROBO LeoFollow9Success Rate (Scenario a)HCSG2.764.3867.62May 13, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (Scenario a)Success Rate (Scenario b)Success Rate (Scenario c)Success Rate (Scenario d)Success Rate (Scenario e)Overall Average Success RateHCSGTrials per scenario=10Trials per scenario=102026.059799741BEVBertTrials per scenario=10Trials per scenario=102026.053356219