In our current era, robots have transcended industrial confines and are being deployed across multiple sectors, necessitating a heightened degree of autonomy. Anticipating the imminent future, it is plausible that human-robot interaction will be part of our daily activities, and as a consequence, robotic entities will inevitably manage their navigation within environments shared with humans. In such contexts, the agents' actions must be similar to behaviors that humans would organically manifest under analogous circumstances, and, in order to be socially acceptable, the motion needs to be safe but must also respect social rules and conventions. Although existing algorithms for socially-aware robot navigation ensure safety, many of them generate unnatural trajectories and have limitations in predicting pedestrians' future movements.