# SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces

arXiv: https://arxiv.org/abs/2303.05584 · HTML: https://mlsanity.com/paper/2303.05584/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 47 references that are in the map.
- First posted on arXiv 9 Mar 2023.

## Builds on (most cited first, 30 of 30)

- [Dota 2 with Large Scale Deep Reinforcement Learning](https://mlsanity.com/paper/1912.06680/) (2019)
- [Mastering Chess and Shogi by Self-Play with a General Reinforcement Learning Algorithm](https://mlsanity.com/paper/1712.01815/) (2017)
- [StarCraft II: A New Challenge for Reinforcement Learning](https://mlsanity.com/paper/1708.04782/) (2017)
- [Unity: A General Platform for Intelligent Agents](https://mlsanity.com/paper/1809.02627/) (2018)
- [PettingZoo: Gym for Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2009.14471/) (2020)
- [Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning](https://mlsanity.com/paper/1809.08835/) (2018)
- [Decentralized Non-communicating Multiagent Collision Avoidance with Deep Reinforcement Learning](https://mlsanity.com/paper/1609.07845/) (2016)
- [Core Challenges of Social Robot Navigation: A Survey](https://mlsanity.com/paper/2103.05668/) (2021)
- [Game-Theoretic Multiagent Reinforcement Learning](https://mlsanity.com/paper/2011.00583/) (2020)
- [Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learning](https://mlsanity.com/paper/1709.10082/) (2017)
- [GANav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments](https://mlsanity.com/paper/2103.04233/) (2021)
- [Collision Avoidance in Pedestrian-Rich Environments with Deep Reinforcement Learning](https://mlsanity.com/paper/1910.11689/) (2019)
- [Efficient Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games](https://mlsanity.com/paper/1909.04694/) (2019)
- [DenseCAvoid: Real-time Navigation in Dense Crowds using Anticipatory Behaviors](https://mlsanity.com/paper/2002.03038/) (2020)
- [GrASPE: Graph based Multimodal Fusion for Robot Navigation in Unstructured Outdoor Environments](https://mlsanity.com/paper/2209.05722/) (2022)
- [SocNavBench: A Grounded Simulation Testing Framework for Evaluating Social Navigation](https://mlsanity.com/paper/2103.00047/) (2021)
- [VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics](https://mlsanity.com/paper/2203.15983/) (2022)
- [TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning](https://mlsanity.com/paper/2109.05120/) (2021)
- [CMetric: A Driving Behavior Measure Using Centrality Functions](https://mlsanity.com/paper/2003.04424/) (2020)
- [ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games](https://mlsanity.com/paper/2104.08452/) (2021)
- [GamePlan: Game-Theoretic Multi-Agent Planning with Human Drivers at Intersections, Roundabouts, and Merging](https://mlsanity.com/paper/2109.01896/) (2021)
- [Frozone: Freezing-Free, Pedestrian-Friendly Navigation in Human Crowds](https://mlsanity.com/paper/2003.05395/) (2020)
- [High-Speed Accurate Robot Control using Learned Forward Kinodynamics and Non-linear Least Squares Optimization](https://mlsanity.com/paper/2206.08487/) (2022)
- [SOCIALGYM: A Framework for Benchmarking Social Robot Navigation](https://mlsanity.com/paper/2109.11011/) (2021)
- [GAMEOPT: Optimal Real-time Multi-Agent Planning and Control for Dynamic Intersections](https://mlsanity.com/paper/2202.11572/) (2022)
- [CoMet: Modeling Group Cohesion for Socially Compliant Robot Navigation in Crowded Scenes](https://mlsanity.com/paper/2108.09848/) (2021)
- [SOCIALMAPF: Optimal and Efficient Multi-Agent Path Finding with Strategic Agents for Social Navigation](https://mlsanity.com/paper/2210.08390/) (2022)
- [MengeROS: a Crowd Simulation Tool for Autonomous Robot Navigation](https://mlsanity.com/paper/1801.08823/) (2018)
- [Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd](https://mlsanity.com/paper/2104.14177/) (2021)
- [STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations](https://mlsanity.com/paper/2203.01299/) (2022)

## Built on by (most cited first, 5 of 5)

- [Principles and Guidelines for Evaluating Social Robot Navigation Algorithms](https://mlsanity.com/paper/2306.16740/) (2023)
- [MetaUrban: An Embodied AI Simulation Platform for Urban Micromobility](https://mlsanity.com/paper/2407.08725/) (2024)
- [Multi-Agent Inverse Reinforcement Learning in Real World Unstructured Pedestrian Crowds](https://mlsanity.com/paper/2405.16439/) (2024)
- [Vision-Language Models for Deployable Social Robot Navigation: Bridging Semantic Reasoning and Low-Level Control](https://mlsanity.com/paper/2606.28760/) (2026)
- [Do World Models Make Better Robots? A Survey of Evaluation Benchmarks for Predictive Embodied Intelligence](https://mlsanity.com/paper/2609.29669/) (2026)

## Abstract (arXiv)

We present SocialGym 2, a multi-agent navigation simulator for social robot research. Our simulator models multiple autonomous agents, replicating real-world dynamics in complex environments, including doorways, hallways, intersections, and roundabouts. Unlike traditional simulators that concentrate on single robots with basic kinematic constraints in open spaces, SocialGym 2 employs multi-agent reinforcement learning (MARL) to develop optimal navigation policies for multiple robots with diverse, dynamic constraints in complex environments. Built on the PettingZoo MARL library and Stable Baselines3 API, SocialGym 2 offers an accessible python interface that integrates with a navigation stack through ROS messaging. SocialGym 2 can be easily installed and is packaged in a docker container, and it provides the capability to swap and evaluate different MARL algorithms, as well as customize observation and reward functions. We also provide scripts to allow users to create their own environments and have conducted benchmarks using various social navigation algorithms, reporting a broad range of social navigation metrics. Projected hosted at: https://amrl.cs.utexas.edu/social_gym/index.html