{"id":"W2899953468","doi":"10.1177/02783649221077714","title":"Reactive task and motion planning for robust whole-body dynamic locomotion in constrained environments","year":2022,"lang":"en","type":"article","venue":"The International Journal of Robotics Research","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":23,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Waterloo","funders":"Office of Naval Research; Natural Sciences and Engineering Research Council of Canada; Canada Research Chairs; National Science Foundation","keywords":"Correctness; Computer science; Robot; Motion planning; Reachability; Robustness (evolution); Task (project management); Set (abstract data type); Robot locomotion; Planner; Control engineering; Artificial intelligence; Engineering; Mobile robot; Robot control; Theoretical computer science","routes":{"ca_aff":true,"ca_fund":true,"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":[0.001629423,0.00007601988,0.000121588,0.0003459311,0.0001234526,0.0000630307,0.0003743263,0.00002873223,0.00002730603],"category_scores_gemma":[0.00009698823,0.00006560243,0.00004719668,0.0001111441,0.00007330596,0.0001311799,0.00009627885,0.0006044049,0.000002286852],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0005242128,"about_ca_system_score_gemma":0.00003756294,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000005225002,"about_ca_topic_score_gemma":0.000003385305,"domain_scores_codex":[0.9985261,0.0001507233,0.0003082114,0.00008819257,0.0007435123,0.0001832731],"domain_scores_gemma":[0.9993495,0.0003211095,0.00008475575,0.00007942892,0.0001173182,0.00004794157],"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":[0.0001059116,0.0000663766,0.0002683388,0.000005560077,0.00009094355,0.00002818092,0.0004590329,0.97736,0.01717787,0.0006246738,0.000174986,0.0036382],"study_design_scores_gemma":[0.001719084,0.0001557404,0.003089138,0.00004001593,0.0000107098,0.0001718333,0.001387235,0.9904119,0.0001616841,0.002104961,0.0006737969,0.00007390932],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1094713,0.0003699841,0.8802088,0.008052642,0.0009332113,0.0005690496,0.00003398524,0.00001615401,0.0003448353],"genre_scores_gemma":[0.9983287,0.00003907038,0.00130608,0.00003105846,0.00008401251,0.00002149235,0.00001421738,0.00001614932,0.0001591898],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.8888574,"threshold_uncertainty_score":0.2675189,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.04053081722536694,"score_gpt":0.3233543429705856,"score_spread":0.2828235257452187,"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."}}