Currently, most rescue robots are mainly teleoperated and integrate some level of autonomy to reduce the operator’s workload, allowing them to focus on the primary mission tasks. One of the main causes of mission failure are human errors and increasing the robot’s autonomy can increase the probability of success. For this reason, in this work, a stair detection and characterization pipeline is presented. The pipeline is tested on a differential drive robot using the ROS middleware, YOLOv4-tiny and a region growing based clustering algorithm. The pipeline’s staircase detector was implemented using the Neural Compute Engines (NCEs) of the OpenCV AI Kit with Depth (OAK-D) RGB-D camera, which allowed the implementation using the robot’s computer without a GPU and, thus, could be implemented in similar robots to increase autonomy. Furthermore, by using this pipeline we were able to implement a Fuzzy controller that allows the robot to align itself, autonomously, with the staircase. Our work can be used in different robots running the ROS middleware and can increase autonomy, allowing the operator to focus on the primary mission tasks. Furthermore, due to the design of the pipeline, it can be used with different types of RGB-D cameras, including those that generate noisy point clouds from low disparity depth images.

Large-language-model (LLM) APIs demonstrate impressive reasoning capabilities, but their size, cost, and closed weights limit the deployment of knowledge-aware AI within biomedical research groups. At the other extreme, standard attention-based neural language models (SANLMs)—including encoder–decoder architectures such as Transformers, Gated Recurrent Units (GRUs), and Long Short-Term Memory (LSTM) networks—are computationally inexpensive. However, their capacity for semantic reasoning in noisy, open-vocabulary knowledge bases (KBs) remains unquantified. Therefore, we investigate whether compact SANLMs can (i) reason over hybrid OpenIE-derived KBs that integrate commonsense, general-purpose, and non-communicable-disease (NCD) literature; (ii) operate effectively on commodity GPUs; and (iii) exhibit semantic coherence as assessed through manual linguistic inspection. To this end, we constructed four training KBs by integrating ConceptNet (600k triples), a 39k-triple general-purpose OpenIE set, and an 18.6k-triple OpenNCDKB extracted from 1200 PubMed abstracts. Encoder–decoder GRU, LSTM, and Transformer models (1–2 blocks) were trained to predict the object phrase given the subject + predicate. Beyond token-level cross-entropy, we introduced the Meaning-based Selectional-Preference Test (MSPT): for each withheld triple, we masked the object, generated a candidate, and measured its surplus cosine similarity over a random baseline using word embeddings, with significance assessed via a one-sided t-test. Hyperparameter sensitivity (311 GRU/168 LSTM runs) was analyzed, and qualitative frame–role diagnostics completed the evaluation. Our results showed that all SANLMs learned effectively from the point of view of the cross entropy loss. In addition, our MSPT provided meaningful semantic insights: for the GRUs (256-dim, 2048-unit, 1-layer): mean similarity $\left({\mu }_{sts}\right)$ of 0.641 to the ground truth vs. 0.542 to the random baseline (gap 12.1%; $p<{10}^{-180}$). For the 1-block Transformer: ${\mu }_{sts}=0.551$ vs. $0.511$ (gap 4%; $p<{10}^{-25}$). While Transformers minimized loss and accuracy variance, GRUs captured finer selectional preferences. Both architectures trained within <24 GB GPU VRAM and produced linguistically acceptable, albeit over-generalized, biomedical assertions. Due to their observed performance, LSTM results were designated as baseline models for comparison. Therefore, properly tuned SANLMs can achieve statistically robust semantic reasoning over noisy, domain-specific KBs without reliance on massive LLMs. Their interpretability, minimal hardware footprint, and open weights promote equitable AI research, opening new avenues for automated NCD knowledge synthesis, surveillance, and decision support.