# Robot Vitals and Robot Health: Towards Systematically Quantifying Runtime Performance Degradation in Robots Under Adverse Conditions

arXiv: https://arxiv.org/abs/2207.01684 · HTML: https://mlsanity.com/paper/2207.01684/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 1 of its 29 references that are in the map.
- First posted on arXiv 4 Jul 2022.

## Builds on (most cited first, 1 of 1)

- [Mixed-Initiative variable autonomy for remotely operated mobile robots](https://mlsanity.com/paper/1911.04848/) (2019)

## Built on by (most cited first, 4 of 4)

- [How Safe Am I Given What I See? Calibrated Prediction of Safety Chances for Image-Controlled Autonomy](https://mlsanity.com/paper/2308.12252/) (2023)
- [A Hierarchical Variable Autonomy Mixed-Initiative Framework for Human-Robot Teaming in Mobile Robotics](https://mlsanity.com/paper/2211.14095/) (2022)
- [How Safe Will I Be Given What I Saw? Calibrated Prediction of Safety Chances for Image-Controlled Autonomy](https://mlsanity.com/paper/2508.09346/) (2025)
- [Machines that know they are aging: a framework for hardware-aware autonomous intelligence](https://mlsanity.com/paper/2607.28451/) (2026)

## Abstract (arXiv)

This paper addresses the problem of automatically detecting and quantifying performance degradation in remote mobile robots during task execution. A robot may encounter a variety of uncertainties and adversities during task execution, which can impair its ability to carry out tasks effectively and cause its performance to degrade. Such situations can be mitigated or averted by timely detection and intervention (e.g., by a remote human supervisor taking over control in teleoperation mode). Inspired by patient triaging systems in hospitals, we introduce the framework of "robot vitals" for estimating overall "robot health". A robot's vitals are a set of indicators that estimate the extent of performance degradation faced by a robot at a given point in time. Robot health is a metric that combines robot vitals into a single scalar value estimate of performance degradation. Experiments, both in simulation and on a real mobile robot, demonstrate that the proposed robot vitals and robot health can be used effectively to estimate robot performance degradation during runtime.