The Implementation of a Planning and Scheduling Architecture for Multiple Robots Assisting Multiple Users in a Retirement Home Setting
Bibliographic record
Abstract
Our research focuses on the use of Planning & Scheduling (P&S) technology for a team of robots providing daily assistance to multiple elder adults living in retirement facilities. Multi-user assistance and group-based activities require robots to plan and schedule their human-robot interaction (HRI) activities based on the specific needs, time constraints, availability and preferences of the multiple users. In this paper, we introduce and implement a novel centralized system architecture that can manage real P&S scenarios with multiple socially assistive robots, multiple users and their individual schedules, and single- and multi-person assistive activities. We describe how the main components of the proposed P&S architecture are integrated to control the robots, and to generate and monitor sequences of temporally annotated activities using off-the-shelf temporal planners. We verify that the architecture can manage realistic scenarios with three assistive robots, twenty users, and several single- and group-based activity requests during a single day.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".