Robots That Take Initiative: A Framework for Building and Evaluating Proactive Robots

arXiv:2609.28910 · cs.RO, cs.AI · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-24

Updated: 2026-09-24

Code: https://github.com/Maithili/GAP

Terminology

• Adaptation — 19× in this paper · explained in 1 episode
• Grounding — 16× in this paper · explained in 3 episodes
• Distribution Shift — 8× in this paper · explained in 5 episodes
• Alignment — 7× in this paper · explained in 1 episode
• Transformer — 7× in this paper · explained in 2 episodes
• Core — 6× in this paper · explained in 2 episodes
• Continual Learning — 5× in this paper · explained in 2 episodes
• F1 Score — 4× in this paper · explained in 3 episodes
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Action Space — 3× in this paper · explained in 1 episode
• Affordance — 3× in this paper · explained in 1 episode
• Embeddings — 3× in this paper · explained in 2 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Clustering — 2× in this paper · explained in 2 episodes
• Latent Space — 2× in this paper · explained in 7 episodes
• Personalization — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Human-Robot Interaction — 1× in this paper
• Regret — 1× in this paper · explained in 3 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes

Sources

• Strategy Discovery and Mixture in Lifelong Learning from Heterogeneous Demonstration
• Predictive Spatio-Temporal Scene Graphs for Semi-Static Scenes
• AssistanceZero: Scalably Solving Assistance Games

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