# ProxEmo: Gait-based Emotion Learning and Multi-view Proxemic Fusion for Socially-Aware Robot Navigation

arXiv: https://arxiv.org/abs/2003.01062 · HTML: https://mlsanity.com/paper/2003.01062/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Mar 2020.

## Built on by (most cited first, 17 of 17)

- [Principles and Guidelines for Evaluating Social Robot Navigation Algorithms](https://mlsanity.com/paper/2306.16740/) (2023)
- [A Survey on Human-aware Robot Navigation](https://mlsanity.com/paper/2106.11650/) (2021)
- [Robots That Can See: Leveraging Human Pose for Trajectory Prediction](https://mlsanity.com/paper/2309.17209/) (2023)
- [Unlocking the Emotional World of Visual Media: An Overview of the Science, Research, and Impact of Understanding Emotion](https://mlsanity.com/paper/2307.13463/) (2023)
- [TNTC: two-stream network with transformer-based complementarity for gait-based emotion recognition](https://mlsanity.com/paper/2110.13708/) (2021)
- [MSA-GCN:Multiscale Adaptive Graph Convolution Network for Gait Emotion Recognition](https://mlsanity.com/paper/2209.08988/) (2022)
- [Perception for Humanoid Robots](https://mlsanity.com/paper/2309.15616/) (2023)
- [Learning Personalized Human-Aware Robot Navigation Using Virtual Reality Demonstrations from a User Study](https://mlsanity.com/paper/2203.14741/) (2022)
- [ST-Gait++: Leveraging spatio-temporal convolutions for gait-based emotion recognition on videos](https://mlsanity.com/paper/2405.13903/) (2024)
- [Mutilmodal Feature Extraction and Attention-based Fusion for Emotion Estimation in Videos](https://mlsanity.com/paper/2303.10421/) (2023)
- [Emotion Recognition from Skeleton Data: A Comprehensive Survey](https://mlsanity.com/paper/2507.18026/) (2025)
- [Self-supervised Gait-based Emotion Representation Learning from Selective Strongly Augmented Skeleton Sequences](https://mlsanity.com/paper/2405.04900/) (2024)
- [EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning](https://mlsanity.com/paper/2503.12538/) (2025)
- [Emotion Loss Attacking: Adversarial Attack Perception for Skeleton based on Multi-dimensional Features](https://mlsanity.com/paper/2406.19815/) (2024)
- [CGTGait: Collaborative Graph and Transformer for Gait Emotion Recognition](https://mlsanity.com/paper/2509.16623/) (2025)
- [HumAIN: Human-Aware Implicit Social Robot Navigation](https://mlsanity.com/paper/2607.07357/) (2026)
- [Single-Stream Multi-Feature Fusion with Temporal Robustness for Gait Emotion Recognition](https://mlsanity.com/paper/2609.11680/) (2026)

## Abstract (arXiv)

We present ProxEmo, a novel end-to-end emotion prediction algorithm for socially aware robot navigation among pedestrians. Our approach predicts the perceived emotions of a pedestrian from walking gaits, which is then used for emotion-guided navigation taking into account social and proxemic constraints. To classify emotions, we propose a multi-view skeleton graph convolution-based model that works on a commodity camera mounted onto a moving robot. Our emotion recognition is integrated into a mapless navigation scheme and makes no assumptions about the environment of pedestrian motion. It achieves a mean average emotion prediction precision of 82.47% on the Emotion-Gait benchmark dataset. We outperform current state-of-art algorithms for emotion recognition from 3D gaits. We highlight its benefits in terms of navigation in indoor scenes using a Clearpath Jackal robot.