{
 "name": "Crowds a robot can learn among: simulated pedestrians against real ones, on six recorded scenes never run",
 "registered": "2026-10-07",
 "claim": "The crowd Living Worlds puts around a robot (JuPedSim with the collision-free speed model, as built by the render session) moves more like real people than the social-force crowd common in robot training, and than people who ignore each other.",
 "data": "ETH/UCY pedestrian tracks as distributed in StanfordASL/Trajectron-plus-plus experiments/pedestrians/raw/raw/all_data (frame, id, x, y in metres, 0.4 s steps), downloaded 2026-10-06 to [host name redacted] lw-peds. Development used only crowds_zara03 and uni_examples. Scored scenes, never simulated or scored before: biwi_eth, biwi_hotel, crowds_zara01, crowds_zara02, students001, students003.",
 "crowds": {
  "jupedsim": "livingworlds/render 57ae99c, render-studio/src/render_studio/pedreplay.py: each real person enters at their first position and time and walks to their last position at their own mean real speed; walkable area the convex hull of all positions plus 1 m; people who stand stay at their mean position",
  "socialforce": "the same set-up with the render session's Helbing-Molnar social force",
  "orca": "the same set-up with the render session's port of RVO2",
  "straight": "peds_straight.py: each person walks a straight line from first to last position over the same frames, ignoring everyone"
 },
 "measures": "peds_realism.py and peds_score.py at this commit: 1-Wasserstein distance between simulated and real step speeds, nearest-neighbour distances and path straightness, and the absolute difference in the share of frames in which some pair is closer than 0.3 m. In each scene each measure ranks the four crowds (ties share the mean rank); a crowd's score is its rank sum.",
 "primary": "jupedsim's rank sum is lower than both socialforce's and straight's in at least 5 of the 6 scenes",
 "secondary": "jupedsim against orca (level on development), every measure in every scene",
 "development": "crowds_zara03: rank sums jupedsim 8.5, orca 8.5, straight 11, socialforce 12; uni_examples: jupedsim 6.5, orca 8.5, straight 12, socialforce 13. The straight-line crowd matched or beat the others on some distributions but collided far more often than real people (6.7% of frames against 1.0% on zara03), which is why contact is a measure.",
 "order": "the render session runs pedreplay.py at 57ae99c on the six scenes only after this commit, writing <scene>-<model>.txt to lw-peds/sim; peds_straight.py writes the straight crowds; then peds_score.py runs once",
 "publish": "results-peds.json whatever the outcome"
}