Making Robots Proactive through Equilibrium Maintenance
Authors: Jasmin Grosinger, Federico Pecora, Alessandro Saffiotti
IJCAI 2016 | Conference PDF | Archive PDF | Plain Text | LLM Run Details
| Reproducibility Variable | Result | LLM Response |
|---|---|---|
| Research Type | Experimental | We provide formal evidence that equilibrium maintenance is conducive to proactive robots, and demonstrate our approach in a closed loop with a real robot in a smart home.In this section we present an example scenario implemented in a domestic service robotic system.The results (opportunities, action scheme selection and execution) are summarized in Table 1, where the state is characterized by its positive predicates. |
| Researcher Affiliation | Academia | Jasmin Grosinger, Federico Pecora, Alessandro Saffiotti Center for Applied Autonomous Systems (AASS), Orebro University, 70182 Orebro, Sweden, {jngr,fpa,asaffio}@aass.oru.se |
| Pseudocode | Yes | Algorithm 1 describes the Eq M(K) procedure which realizes the Equilibrium Maintenance loop. |
| Open Source Code | No | The paper mentions using 'the open-source planning system JSHOP [Nau et al., 2003]' but does not provide open-source code for the methodology described in this paper. |
| Open Datasets | No | The paper describes a specific scenario implemented in a domestic service robotic system and smart home with custom sensor setups, not a publicly available dataset with concrete access information. |
| Dataset Splits | No | The paper describes a robot demonstration scenario and does not specify dataset splits (e.g., train/validation/test percentages or counts) typically found in data-driven experiments. |
| Hardware Specification | Yes | The robot, a Scitos G5 with a Kinova Jaco arm, moves freely in a smart home with Xbee pressure sensors mounted under chairs (see Figure 3). |
| Software Dependencies | No | The paper mentions using 'the open-source planning system JSHOP [Nau et al., 2003]' but does not provide specific version numbers for JSHOP or any other software dependencies. |
| Experiment Setup | Yes | The free-run model is captured by the transitions f(morning, ?, noon), f(noon, ?, evening) and f(evening, ?, night), together with the user model encoded by the following rules: morning ) pillstaken kitchen noon ) lunch night ) sleeping night pillstaken ) well.The time horizon used to compute Eq(s, K) in Eq M(K) is K = 1. |