{"id":"W2012320692","doi":"10.1007/s10514-015-9427-2","title":"A hierarchical and adaptive mobile manipulator planner with base pose uncertainty","year":2015,"lang":"en","type":"article","venue":"Autonomous Robots","topic":"Robotic Path Planning Algorithms","field":"Computer Science","cited_by":21,"is_retracted":false,"has_abstract":false,"ca_institutions":"Simon Fraser University","funders":"","keywords":"Computer science; Planner; Mobile manipulator; Base (topology); Artificial intelligence; Manipulator (device); Mobile robot; Computer vision; Robot","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":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002277964,0.0004041456,0.0005659029,0.0004344725,0.0004868917,0.0004163175,0.00118835,0.0006320339,0.002790221],"category_scores_gemma":[0.0007345701,0.0004704251,0.0003342075,0.0005668379,0.0003983184,0.0006882335,0.001142167,0.0006925602,0.0006700516],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0004982969,"about_ca_system_score_gemma":0.001313997,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.009606757,"about_ca_topic_score_gemma":0.01512237,"domain_scores_codex":[0.9998065,0.00001447322,0.000008669117,0.00005313061,0.00009794598,0.00001928474],"domain_scores_gemma":[0.9998512,0.00004369084,0.00001597239,0.00002691247,0.00004402717,0.00001813583],"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":[0.0001314092,0.00009785033,0.0005887471,0.0001243482,0.00003628437,0.0001630904,0.0001081453,0.6203788,0.02146956,0.01256662,0.005039321,0.3392959],"study_design_scores_gemma":[0.0000199769,0.00004187572,0.0001896822,0.000004540767,0.000008409911,0.00003408075,0.00001046023,0.9931529,0.001640665,0.003437859,0.001451873,0.000007799401],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01035886,0.000102198,0.9857503,0.00006318139,0.00003332306,0.00005636596,0.00009260883,0.001434218,0.002108993],"genre_scores_gemma":[0.2824503,0.0001141968,0.7134783,0.00007146045,0.00002518099,0.0001390107,0.0002618071,0.0001392777,0.003320443],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.009606757,"threshold_uncertainty_score":0.01910168,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03189700956716965,"score_gpt":0.2457510501446346,"score_spread":0.213854040577465,"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."}}