{"id":"W4401109371","doi":"10.1109/tro.2024.3435423","title":"Consensus Complementarity Control for Multicontact MPC","year":2024,"lang":"en","type":"article","venue":"IEEE Transactions on Robotics","topic":"Advanced Control Systems Optimization","field":"Engineering","cited_by":13,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"National Science Foundation","keywords":"Complementarity (molecular biology); Model predictive control; Computer science; Control (management); Control theory (sociology); Control engineering; Engineering; Mathematical optimization; Artificial intelligence; Mathematics","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":[0.0004823152,0.0007583393,0.0005422516,0.0003548287,0.000554351,0.0006073082,0.0008700619,0.0006178289,0.001740659],"category_scores_gemma":[0.0008180434,0.0002968937,0.0003421986,0.0003595955,0.0009142952,0.0004943692,0.001108442,0.001042234,0.0002374962],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000789796,"about_ca_system_score_gemma":0.001016113,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00693493,"about_ca_topic_score_gemma":0.004347384,"domain_scores_codex":[0.9996966,0.00005681753,0.000008329877,0.00006217452,0.000138078,0.00003793342],"domain_scores_gemma":[0.9995933,0.0001607466,0.00007959129,0.00003549478,0.0001036637,0.00002715314],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"theoretical_or_conceptual","study_design_scores_codex":[0.00003767738,0.00002045875,0.000127672,0.00004541739,0.00001348408,0.00004261189,0.00004397875,0.9645529,0.00350556,0.01493558,0.0006470056,0.01602756],"study_design_scores_gemma":[0.000003868357,0.00001578368,0.0000217842,0.000001459629,0.000001325157,0.000003825258,0.000002463304,0.9975731,0.0004495781,0.001529115,0.000395484,0.000002267342],"study_design_candidate":"theoretical_or_conceptual","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.01650077,0.0001512644,0.9770911,0.0001659563,0.00005932978,0.00003232007,0.00002530443,0.0003085749,0.005665389],"genre_scores_gemma":[0.891972,0.0001438697,0.1013189,0.0001446879,0.00004370001,0.0001927782,0.00005752871,0.0000595184,0.006067008],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.00693493,"threshold_uncertainty_score":0.01378918,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01742424284513499,"score_gpt":0.2540619752729802,"score_spread":0.2366377324278452,"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."}}