Autonomous Robots最新文献_第5页

Collocation methods for second and higher order systems 二阶和高阶系统的搭配方法

IF 3.7 3区计算机科学

Autonomous Robots Pub Date : 2024-01-28 DOI: 10.1007/s10514-023-10155-z

Siro Moreno-Martín, Lluís Ros, Enric Celaya

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引用次数: 0

Boosting the hospital by integrating mobile robotic assistance systems: a comprehensive classification of the risks to be addressed 通过整合移动机器人辅助系统促进医院发展：应对风险的全面分类

IF 3.7 3区计算机科学

Autonomous Robots Pub Date : 2024-01-24 DOI: 10.1007/s10514-023-10154-0

Lukas Bernhard, Patrik Schwingenschlögl, Jörg Hofmann, Dirk Wilhelm, Alois Knoll

{"title":"Boosting the hospital by integrating mobile robotic assistance systems: a comprehensive classification of the risks to be addressed","authors":"Lukas Bernhard, Patrik Schwingenschlögl, Jörg Hofmann, Dirk Wilhelm, Alois Knoll","doi":"10.1007/s10514-023-10154-0","DOIUrl":"10.1007/s10514-023-10154-0","url":null,"abstract":"<div><p>Mobile service robots are a promising technology for supporting workflows throughout the hospital. Combined with an understanding of the environment and the current situation, such systems have the potential to become invaluable tools for overcoming personal shortages and streamlining healthcare workflows. However, few robotic systems have actually been translated to practical application so far, which is due to many challenges centered around the strict and unique requirements imposed by the different hospital environments, which have not yet been collected and analyzed in a structured manner. To address this need, we now present a comprehensive classification of different dimensions of risk to be considered when designing mobile service robots for the hospital. Our classification consists of six risk categories – environmental complexity, hygienic requirements, interaction with persons and objects, workflow flexibility and autonomy – for each of which a scale with distinct risk levels is provided. This concept, for the first time allows for a precise classification of mobile service robots for the hospital, which can prove useful for certification and admission procedures as well as for defining architectural and safety requirements throughout the design process of such robots.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"48 1","pages":""},"PeriodicalIF":3.7,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-023-10154-0.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139558975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic task allocation approaches for coordinated exploration of Subterranean environments 地下环境协同勘探的动态任务分配方法

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-11-23 DOI: 10.1007/s10514-023-10142-4

Matthew O’Brien, Jason Williams, Shengkang Chen, Alex Pitt, Ronald Arkin, Navinda Kottege

引用次数: 1

AuRo special issue on large language models in robotics guest editorial AuRo关于机器人中的大型语言模型的特刊客座编辑

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-11-17 DOI: 10.1007/s10514-023-10153-1

引用次数: 0

TidyBot: personalized robot assistance with large language models TidyBot:具有大型语言模型的个性化机器人辅助

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-11-16 DOI: 10.1007/s10514-023-10139-z

Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser

{"title":"TidyBot: personalized robot assistance with large language models","authors":"Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser","doi":"10.1007/s10514-023-10139-z","DOIUrl":"10.1007/s10514-023-10139-z","url":null,"abstract":"<div><p>For a robot to personalize physical assistance effectively, it must learn user preferences that can be generally reapplied to future scenarios. In this work, we investigate personalization of household cleanup with robots that can tidy up rooms by picking up objects and putting them away. A key challenge is determining the proper place to put each object, as people’s preferences can vary greatly depending on personal taste or cultural background. For instance, one person may prefer storing shirts in the drawer, while another may prefer them on the shelf. We aim to build systems that can learn such preferences from just a handful of examples via prior interactions with a particular person. We show that robots can combine language-based planning and perception with the few-shot summarization capabilities of large language models to infer generalized user preferences that are broadly applicable to future interactions. This approach enables fast adaptation and achieves 91.2% accuracy on unseen objects in our benchmark dataset. We also demonstrate our approach on a real-world mobile manipulator called TidyBot, which successfully puts away 85.0% of objects in real-world test scenarios.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"47 8","pages":"1087 - 1102"},"PeriodicalIF":3.5,"publicationDate":"2023-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138473086","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 68

Learning to summarize and answer questions about a virtual robot’s past actions 学习总结和回答关于虚拟机器人过去行为的问题

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-11-16 DOI: 10.1007/s10514-023-10134-4

Chad DeChant, Iretiayo Akinola, Daniel Bauer

引用次数: 0

Text2Motion: from natural language instructions to feasible plans Text2Motion:从自然语言指令到可行的计划

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-11-14 DOI: 10.1007/s10514-023-10131-7

Kevin Lin, Christopher Agia, Toki Migimatsu, Marco Pavone, Jeannette Bohg

{"title":"Text2Motion: from natural language instructions to feasible plans","authors":"Kevin Lin, Christopher Agia, Toki Migimatsu, Marco Pavone, Jeannette Bohg","doi":"10.1007/s10514-023-10131-7","DOIUrl":"10.1007/s10514-023-10131-7","url":null,"abstract":"<div><p>We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and motion-level plan that is verified to reach inferred symbolic goals. Text2Motion uses feasibility heuristics encoded in Q-functions of a library of skills to guide task planning with Large Language Models. Whereas previous language-based planners only consider the feasibility of individual skills, Text2Motion actively resolves geometric dependencies spanning skill sequences by performing geometric feasibility planning during its search. We evaluate our method on a suite of problems that require long-horizon reasoning, interpretation of abstract goals, and handling of partial affordance perception. Our experiments show that Text2Motion can solve these challenging problems with a success rate of 82%, while prior state-of-the-art language-based planning methods only achieve 13%. Text2Motion thus provides promising generalization characteristics to semantically diverse sequential manipulation tasks with geometric dependencies between skills. Qualitative results are made available at https://sites.google.com/stanford.edu/text2motion.\u0000</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"47 8","pages":"1345 - 1365"},"PeriodicalIF":3.5,"publicationDate":"2023-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134954182","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 73

Correction: Efficiently exploring for human robot interaction: partially observable Poisson processes 更正:有效探索人机交互:部分可观察的泊松过程

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-11-11 DOI: 10.1007/s10514-023-10152-2

Ferdian Jovan, Milan Tomy, Nick Hawes, Jeremy Wyatt

引用次数: 0

Editor’s note - Special issue on Robot Swarms in the Real World: from Design to Deployment 编者按-关于现实世界中的机器人群的特刊:从设计到部署

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-11-09 DOI: 10.1007/s10514-023-10151-3

引用次数: 0

SpaTiaL: monitoring and planning of robotic tasks using spatio-temporal logic specifications 空间:利用时空逻辑规范监测和规划机器人任务

IF 3.5 3区计算机科学