@article {pandey2025freshr,
	title = {FRESHR-GSI: A Generalized Safety Model and Evaluation Framework for Mobile Robots in Multi-Human Environments},
	journal = {arXiv preprint arXiv:2501.03467},
	year = {2025},
	author = {Pandey, Pranav and Parasuraman, Ramviyas and Doshi, Prashant}
}
