{"id":"W1966784014","doi":"10.1145/1778765.1778810","title":"Optimizing walking controllers for uncertain inputs and environments","year":2010,"lang":"en","type":"article","venue":"ACM Transactions on Graphics","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":113,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"","keywords":"Robustness (evolution); Computer science; Monte Carlo method; Control theory (sociology); Torque; Robust control; Mathematical optimization; Control (management); Control system; Mathematics; Artificial intelligence; Engineering; Statistics","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001052468,0.0001290932,0.0001322027,0.0001226798,0.0001613189,0.00003357179,0.0001117948,0.0001069382,0.00002586587],"category_scores_gemma":[0.00001435533,0.0001307981,0.00008077823,0.00008510381,0.0000472155,0.00008866516,0.000001455974,0.0002790121,0.000003911317],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00001311729,"about_ca_system_score_gemma":0.000005070555,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000002599425,"about_ca_topic_score_gemma":0.00003462715,"domain_scores_codex":[0.9994289,0.00001035967,0.0001426266,0.0001423246,0.00008993588,0.000185874],"domain_scores_gemma":[0.9994928,0.0001528848,0.0000166523,0.000246189,0.000008882856,0.00008260077],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.000162542,0.0002838225,0.0002037219,0.0001309749,0.0007410353,0.000007350822,0.001729679,0.5743499,0.09540363,0.007721175,0.0001674298,0.3190987],"study_design_scores_gemma":[0.01114448,0.0003040521,0.001543889,0.00007114233,0.0003279042,0.00002991064,0.0002969814,0.9302146,0.01250833,0.008362691,0.03409071,0.001105258],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.02125473,0.00004927724,0.9767749,0.0007295797,0.0005347636,0.000338479,0.00001426077,0.0001433945,0.0001606231],"genre_scores_gemma":[0.9874769,0.0001418637,0.0118546,0.0003094813,0.00002966281,0.0000951516,0.000003449232,0.00002798228,0.00006083729],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9662222,"threshold_uncertainty_score":0.5333793,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01084217061787151,"score_gpt":0.2170471669779528,"score_spread":0.2062049963600812,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}