{"id":"W3206454137","doi":"10.1109/lra.2022.3189164","title":"Lifelong Topological Visual Navigation","year":2022,"lang":"en","type":"article","venue":"IEEE Robotics and Automation Letters","topic":"Robotics and Sensor-Based Localization","field":"Engineering","cited_by":15,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université de Montréal","funders":"","keywords":"Spurious relationship; Computer science; Graph; Topological graph; Topological map; Topology (electrical circuits); Artificial intelligence; Real-time computing; Computer vision; Theoretical computer science; Machine learning; Mathematics; Robot; Mobile 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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.00009994597,0.00009849497,0.00009833486,0.00007228554,0.0002127875,0.00005447742,0.0000514085,0.00003290806,0.00003305999],"category_scores_gemma":[0.000005026001,0.0001066532,0.00002820532,0.0001479668,0.00002593375,0.0000825657,0.00001653118,0.0001289738,0.00000708663],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00006590873,"about_ca_system_score_gemma":0.000005158079,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000003744657,"about_ca_topic_score_gemma":4.400322e-7,"domain_scores_codex":[0.9993241,0.00003941144,0.0001859361,0.0001220849,0.0001840363,0.0001444509],"domain_scores_gemma":[0.9998013,0.00003219062,0.00003277867,0.00007254798,0.00001428071,0.00004688503],"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":[0.000001521072,0.00001277926,0.000231141,0.00001911953,0.000007994657,0.000007060335,0.0001032622,0.985758,0.01033502,0.001270093,0.001332972,0.0009210603],"study_design_scores_gemma":[0.0001774876,0.00003353304,0.001376293,0.000005046694,0.0000105297,0.00001431821,0.00004505237,0.9967675,0.0007274711,0.0001172503,0.000581544,0.0001439787],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.6681846,0.00003766073,0.3290447,0.001603875,0.0006658663,0.0001040041,0.000005301453,0.0002891341,0.0000648395],"genre_scores_gemma":[0.9966333,0.000008960811,0.002284,0.0008488881,0.000100785,0.00001224607,0.00007947019,0.00001845652,0.00001392946],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.3284486,"threshold_uncertainty_score":0.434919,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.008427013100457658,"score_gpt":0.2151380664006813,"score_spread":0.2067110533002236,"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."}}