Results

What the alignment buys.

Offline evaluation

SALSA vs. base — social-differentiation & collision-safety metrics.

Near-collision reduction

2460→334

−86.4%

Fewer dangerous situations.

Social differentiation

53%→93%

+40% CF-Acc

Tells people apart from objects.

Obstacle clearance

0.79m→1.38m

+75.9%

More space around obstacles.

Real-robot deployment

Ours (SALSA) vs. base — 36 vs. 31 trials · 4.0 m goal · 25-step budget · success = within 0.5 m of goal.

OursBase

Success ↑97%35/3619%6/31

Collision ↓0%29%

Timeout ↓3%52%

Lower is better for collision and timeout; higher for success.

OursBasesuccess rate by scenario