SEAN 2.0: Formalizing and Generating Social Situations for Robot Navigation. - Nathan Tsoi; Alec Xiang; Peter Yu; Samuel S. Sohn; Greg Schwartz; Subashri Ramesh; Mohamed Hussein; Anjali W. Gupta; Mubbasir Kapadia; Marynel Vázquez (IEEE Robotics Autom. Lett., 2022)