{"id":"W4383108849","doi":"10.1109/icra48891.2023.10160528","title":"Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control","year":2023,"lang":"en","type":"article","venue":"","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":3,"is_retracted":false,"has_abstract":true,"ca_institutions":"","funders":"Natural Sciences and Engineering Research Council of Canada; Schweizerischer Nationalfonds zur Förderung der Wissenschaftlichen Forschung","keywords":"Model predictive control; Leverage (statistics); Mathematical optimization; Computer science; Optimal control; Schedule; Time horizon; Scheduling (production processes); Control theory (sociology); Sequence (biology); Mathematics; Control (management); Artificial intelligence","routes":{"ca_aff":false,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":true},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001019354,0.00008168433,0.0001591778,0.00008030196,0.00003021444,0.00001079507,0.00005283078,0.00004890006,0.00000482893],"category_scores_gemma":[0.00001396958,0.00007561079,0.00004816264,0.00008182359,0.0000228622,0.0001102652,0.00001130245,0.00005414323,0.000002398159],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00001105181,"about_ca_system_score_gemma":0.0000134635,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000001579498,"about_ca_topic_score_gemma":6.536114e-7,"domain_scores_codex":[0.9995055,0.000005655613,0.0001471129,0.0001006591,0.00007389844,0.0001672259],"domain_scores_gemma":[0.9997244,0.00007467155,0.00001240224,0.00008540765,0.00004365895,0.00005938514],"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":[0.00002160935,0.000006014653,0.000007999693,0.0000291991,0.00005639061,2.313916e-7,0.0001533617,0.9807672,0.001544677,0.01642112,0.0001520512,0.0008401338],"study_design_scores_gemma":[0.00133251,0.00005266815,0.00002224646,0.000009248216,0.00002331945,5.360121e-7,0.00009671137,0.9936081,0.0003199224,0.00445282,0.000008095668,0.00007380381],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.03114589,0.00005708339,0.966159,0.0001451989,0.00005475157,0.0003241333,0.00003763007,0.0003235631,0.001752675],"genre_scores_gemma":[0.9755338,0.00003080985,0.02403655,0.00002148457,0.00002866491,0.00008464554,0.000004911084,0.00001955459,0.0002396166],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9443879,"threshold_uncertainty_score":0.3083319,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01843114186865629,"score_gpt":0.2300729785506346,"score_spread":0.2116418366819783,"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."}}