  Social compatibility is one of the most important parameters for service
robots. It characterizes the quality of interaction between a robot and a
human. In this paper, a human-centered benchmarking framework is proposed for
socially-compliant robot navigation. In an end-to-end manner, four open-source
robot navigation methods are benchmarked, two of which are socially-compliant.
All aspects of the benchmarking are clarified to ensure the reproducibility and
replicability of the experiments. The social compatibility of robot navigation
methods with the Robotic Social Attributes Scale (RoSAS) is measured. After
that, the correspondence between RoSAS and the robot-centered metrics is
validated. Based on experiments, the extra robot time ratio and the extra
distance ratio are the most suitable to judge social compatibility.
