{"id":"W4416748389","doi":"10.1109/iros60139.2025.11246095","title":"Evaluating Generative Models for Inverse Kinematics of Concentric Tube Robots","year":2025,"lang":"","type":"article","venue":"","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"SickKids Foundation; University of Toronto","funders":"","keywords":"Kinematics; Invertible matrix; Inverse kinematics; Inverse; Generative model; Artificial neural network; Position (finance); Robot; Autoencoder","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":["metaepi_narrow"],"consensus_categories":[],"category_scores_codex":[0.0002807019,0.0002407284,0.0004233292,0.0001131474,0.0001310549,0.0000434661,0.0002144655,0.0001398795,0.00009857031],"category_scores_gemma":[0.0001897383,0.0002527593,0.0001588922,0.0006631308,0.00006040898,0.0001021915,0.0000804628,0.0001216536,0.000006900976],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001107823,"about_ca_system_score_gemma":0.0001763881,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0000223485,"about_ca_topic_score_gemma":0.000008859134,"domain_scores_codex":[0.99843,0.00002686947,0.0007762183,0.0002743685,0.0001808471,0.0003117542],"domain_scores_gemma":[0.9984072,0.0005531826,0.0001263235,0.0003949725,0.0004441428,0.00007413575],"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":[0.000004098279,0.00005698247,0.00001761983,0.0004334748,0.0001506996,7.402482e-8,0.0003936711,0.7623126,0.005019705,0.2283348,0.001318163,0.001958185],"study_design_scores_gemma":[0.0008862782,0.00004798102,0.00001403694,0.0001588585,0.0002739965,2.49991e-7,0.0003298204,0.9465688,0.01700627,0.03447049,0.00004436906,0.0001988717],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.01396774,0.0006391263,0.9757094,0.0003372509,0.0003441895,0.001441259,0.00004471568,0.00006275361,0.007453533],"genre_scores_gemma":[0.4822047,0.0001645253,0.5154949,0.0001421841,0.00007407845,0.0002174891,0.00002203012,0.00003128598,0.001648741],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.468237,"threshold_uncertainty_score":0.9999925,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.08761296633163915,"score_gpt":0.3541115088416559,"score_spread":0.2664985425100168,"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."}}