{"paper":{"title":"Robot Introspection via Wrench-based Action Grammars","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dingqiao Zhu, Juan Rojas, Kensuke Harada, Shuangqi Luo, Yunlong Du Wenwei Kuang, Zhengjie Huang","submitted_at":"2016-09-16T08:25:39Z","abstract_excerpt":"Robotic failure is all too common in unstructured robot tasks. Despite well designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the senseplan- act paradigm, however more recently robots are working with a sense-plan-act-verify paradigm. In this work we present a principled methodology to bootstrap robot introspection for contact tasks. In effect, we are trying to answer the question, what did the robot do? To this end, we hypothesize that all noisy wrench data inherently contains patterns that can be "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1609.04947","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}