notesum.ai
Published at December 9Foresee and Act Ahead: Task Prediction and Pre-Scheduling Enabled Efficient Robotic Warehousing
cs.RO
cs.MA
Released Date: December 9, 2024
Authors: B. Cao, Z. Liu, X. Han, S. Zhou, H. Zhang, H. Wang

| DataSets | Models | Horizon 3 | Horizon 5 | Horizon 10 | Horizon 15 | ||||||||
| MAE | RMSE | WMAPE | MAE | RMSE | WMAPE | MAE | RMSE | WMAPE | MAE | RMSE | WMAPE | ||
| TG | STGCN | 0.4313 | 0.6452 | 0.2603 | 0.5764 | 1.1144 | 0.3497 | 0.8388 | 1.5438 | 0.4610 | 1.1352 | 1.8182 | 0.6126 |
| Graph WaveNet | 0.4115 | 0.6367 | 0.2503 | 0.6007 | 1.1852 | 0.3614 | 0.8389 | 1.6422 | 0.4819 | 1.0610 | 1.7671 | 0.5827 | |
| DDSTGCN | 0.4065 | 0.6015 | 0.2256 | 0.5695 | 1.0744 | 0.3163 | 0.8234 | 1.4982 | 0.4577 | 1.0191 | 1.7714 | 0.5667 | |
| STSGCN | 0.3642 | 0.5971 | 0.2149 | 0.5218 | 0.9873 | 0.3097 | 0.7769 | 1.3764 | 0.4256 | 0.9694 | 1.6691 | 0.5616 | |
| D2STGNN | 0.3957 | 0.6594 | 0.2319 | 0.5170 | 1.0299 | 0.2972 | 0.7869 | 1.4746 | 0.4263 | 0.9974 | 1.7113 | 0.5741 | |
| ours | 0.3535 | 0.5714 | 0.2036 | 0.4829 | 0.8823 | 0.2742 | 0.7550 | 1.3701 | 0.4258 | 0.9441 | 1.6876 | 0.5644 | |
| JA | STGCN | 0.4050 | 0.6229 | 0.2328 | 0.6184 | 0.8519 | 0.3229 | 0.7035 | 1.3966 | 0.4695 | 0.9848 | 1.7215 | 0.6361 |
| Graph WaveNet | 0.4282 | 0.6243 | 0.2461 | 0.6801 | 0.9793 | 0.3665 | 0.8646 | 1.4241 | 0.4883 | 0.8373 | 1.5523 | 0.5372 | |
| DDSTGCN | 0.3911 | 0.5968 | 0.2336 | 0.5263 | 0.8284 | 0.2748 | 0.6936 | 1.3682 | 0.4412 | 0.8762 | 1.5036 | 0.5022 | |
| STSGCN | 0.3612 | 0.5439 | 0.2158 | 0.4493 | 0.7733 | 0.2687 | 0.6775 | 1.2754 | 0.4059 | 0.8254 | 1.5112 | 0.4951 | |
| D2STGNN | 0.3772 | 0.5689 | 0.2207 | 0.4548 | 0.8314 | 0.2866 | 0.6972 | 1.3763 | 0.4360 | 1.0340 | 1.7531 | 0.6194 | |
| ours | 0.3518 | 0.5281 | 0.2101 | 0.4251 | 0.7625 | 0.2601 | 0.6659 | 1.2603 | 0.3989 | 0.8141 | 1.4939 | 0.4882 | |
| BB | STGCN | 0.4893 | 0.8078 | 0.2461 | 0.5957 | 0.9992 | 0.3864 | 0.7324 | 1.2480 | 0.5226 | 1.2761 | 1.4822 | 0.6394 |
| Graph WaveNet | 0.4913 | 0.7946 | 0.2134 | 0.6641 | 1.0946 | 0.3941 | 0.7625 | 1.5085 | 0.5688 | 0.9849 | 1.5334 | 0.5433 | |
| DDSTGCN | 0.4408 | 0.8134 | 0.1944 | 0.5764 | 1.0271 | 0.3646 | 0.7235 | 1.1275 | 0.5156 | 0.9706 | 1.4581 | 0.5371 | |
| STSGCN | 0.3934 | 0.7693 | 0.1735 | 0.5607 | 1.1956 | 0.3473 | 0.7472 | 1.3746 | 0.5345 | 0.9579 | 1.5067 | 0.5191 | |
| D2STGNN | 0.4187 | 0.7787 | 0.1764 | 0.5439 | 1.1421 | 0.3648 | 0.7822 | 1.2013 | 0.5437 | 1.0394 | 1.5174 | 0.5261 | |
| ours | 0.3656 | 0.7238 | 0.1524 | 0.5167 | 0.9453 | 0.3246 | 0.7113 | 1.1801 | 0.4719 | 0.9462 | 1.4475 | 0.5046 | |