{"id":"W4387682177","doi":"10.1109/tro.2023.3323938","title":"Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge","year":2023,"lang":"en","type":"article","venue":"IEEE Transactions on Robotics","topic":"Robotics and Sensor-Based Localization","field":"Engineering","cited_by":178,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"Defense Advanced Research Projects Agency; National Aeronautics and Space Administration","keywords":"Simultaneous localization and mapping; Robotics; Robot; Artificial intelligence; Competition (biology); Computer science; Search and rescue; Drone; Field (mathematics); Engineering; 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":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.005049437,0.001002122,0.0008976699,0.001536382,0.001071511,0.004185953,0.00159172,0.003496048,0.003465694],"category_scores_gemma":[0.005281645,0.00052855,0.0005772461,0.00250365,0.002345346,0.007780087,0.003465117,0.003342927,0.001957703],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.001206993,"about_ca_system_score_gemma":0.003343369,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.006132259,"about_ca_topic_score_gemma":0.004703008,"domain_scores_codex":[0.9981536,0.0006068925,0.00008280524,0.0002155023,0.0006705284,0.0002706992],"domain_scores_gemma":[0.9969788,0.001304118,0.0001319453,0.0002003611,0.0009288737,0.0004559025],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"design_other","study_design_gemma":"not_applicable","study_design_scores_codex":[0.0002061718,0.00009859465,0.001398092,0.001470349,0.00006329893,0.0001644114,0.000485495,0.01533988,0.001914863,0.07077926,0.1025478,0.8055317],"study_design_scores_gemma":[0.00004797944,0.0003181755,0.00172894,0.00101237,0.00003733683,0.0004433539,0.001373049,0.04412981,0.001133128,0.1456674,0.8039929,0.0001155766],"study_design_candidate":"not_applicable","study_design_consensus":null,"genre_codex":"review","genre_gemma":"review","genre_scores_codex":[0.01727282,0.5962408,0.2099592,0.1246165,0.007737791,0.0001365044,0.001206971,0.001875367,0.04095404],"genre_scores_gemma":[0.2603396,0.4612934,0.2228817,0.01795907,0.01146712,0.0004820186,0.003502961,0.0005762467,0.02149789],"genre_candidate":"review","genre_consensus":"review","teacher_disagreement_score":0.006132259,"threshold_uncertainty_score":0.02670431,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03202102561179112,"score_gpt":0.2121457210149481,"score_spread":0.180124695403157,"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."}}