Grounded Answer Skill

When to Use This Skill

• User asks a factual question related to robotics, Physical AI, or related fields
• User requests answers supported by sources, references, or documents
• User wants explanations with verifiable evidence

Procedure

1. Understand the question: Identify the key information requested
2. Search the knowledge base: Look through provided documents, textbooks, or research papers
3. Select relevant sources: Choose the most accurate and reliable references
4. Generate grounded answer: Summarize the information clearly, citing sources
5. Optional explanations: Include additional context, formulas, or examples if needed

Output Format

Answer: Concise, clear response to the question
Sources / References: List of supporting documents, papers, or textbook sections
Explanation / Details (Optional): Additional context, formulas, or examples for clarity

Quality Criteria

• Answers must be accurate and factual
• Always cite sources when possible
• Avoid speculation; if no source is available, indicate uncertainty
• Maintain clarity and relevance for the user

Example

Input: "Explain the role of torque in humanoid robot joint control."

Output:

• Answer: Torque is the rotational force applied at a robot joint, determining the joint’s angular acceleration according to τ = I * α. Proper torque control ensures stable and precise movement in humanoid robots.
• Sources / References:
  1. "Introduction to Robotics: Mechanics and Control" – Chapter 6, Joint Dynamics
  2. Lecture notes on Humanoid Robotics, Kinematics and Dynamics section
• Explanation / Details: The moment of inertia I and angular acceleration α define the required torque. Torque control is essential for walking, grasping, and manipulation tasks.