Searcharxiv⌕ Search

arXiv subjects

Olivia Fugikawa

Publications and source records attributed to Olivia Fugikawa.

2 recordsLinked to original sources

Box-ball systems and RSK recording tableaux

A box-ball system (BBS) is a discrete dynamical system consisting of n balls in an infinite strip of boxes. During each BBS move, the balls take turns jumping to the first empty box, beginning with the smallest-numbered ball. The one-line notation of a permutation can be used to define a BBS state. This paper proves that the Robinson--Schensted (RS) recording tableau of a permutation completely determines the dynamics of the box-ball system containing the permutation. Every box-ball system eventually reaches steady state, decomposing into solitons. We prove that the rightmost soliton is equal to the first row of the RS insertion tableau and it is formed after at most one BBS move. This fact helps us compute the number of BBS moves required to form the rest of the solitons. First, we prove that if a permutation has an L-shaped soliton decomposition then it reaches steady state after at most one BBS move. Permutations with L-shaped soliton decompositions include noncrossing involutions and column reading words. Second, we make partial progress on the conjecture that every permutation on n objects reaches steady state after at most n-3 BBS moves. Furthermore, we study the permutations whose soliton decompositions coincide with standard tableaux; we conjecture that they are closed under consecutive pattern containment and that the RS recording tableaux belonging to such permutations are counted by the Motzkin numbers.

math.CO↗

An Approach to Deploy Interactive Robotic Simulators on the Web for HRI Experiments: Results in Social Robot Navigation

Evaluation of social robot navigation inherently requires human input due to its qualitative nature. Motivated by the need to scale human evaluation, we propose a general method for deploying interactive, rich-client robotic simulations on the web. Prior approaches implement specific web-compatible simulators or provide tools to build a simulator for a specific study. Instead, our approach builds on standard Linux tools to share a graphical desktop with remote users. We leverage these tools to deploy simulators on the web that would typically be constrained to desktop computing environments. As an example implementation of our approach, we introduce the SEAN Experimental Platform (SEAN-EP). With SEAN-EP, remote users can virtually interact with a mobile robot in the Social Environment for Autonomous Navigation, without installing any software on their computer or needing specialized hardware. We validated that SEAN-EP could quickly scale the collection of human feedback and its usability through an online survey. In addition, we compared human feedback from participants that interacted with a robot using SEAN-EP with feedback obtained through a more traditional video survey. Our results suggest that human perceptions of robots may differ based on whether they interact with the robots in simulation or observe them in videos. Also, they suggest that people perceive the surveys with interactive simulations as less mentally demanding than video surveys.

cs.RO↗