Before revision:  Along with the model, this paper presents an evolution of the dataset SocNav1  which considers the movement of the robot and the humans, and an updated scenario-to-graph transformation which is tested using different Graph Neural Network blocks.
After revision:  Along with the model, this paper presents an evolution of the dataset SocNav1 25 which considers the movement of the robot and the humans, and an updated scenario-to-graph transformation which is tested using different Graph Neural Network blocks.