{"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":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.001648823,0.0007177633,0.000477865,0.0005108382,0.0002440803,0.000589925,0.0007862861,0.001034038,0.0008382745],"category_scores_gemma":[0.006368719,0.0004614084,0.0007020914,0.000225751,0.001001204,0.0006375849,0.0009813103,0.001008068,0.0001450577],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0008930558,"about_ca_system_score_gemma":0.0007444527,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.006127088,"about_ca_topic_score_gemma":0.004821874,"domain_scores_codex":[0.9995196,0.0001882003,0.00002175526,0.0001099213,0.0001169364,0.00004357375],"domain_scores_gemma":[0.9971372,0.002155146,0.000239508,0.0001473433,0.0002431171,0.00007769978],"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":[0.00002549331,0.00001358565,0.0005202182,0.000011795,0.00001045524,0.00001307249,0.00001873682,0.9916735,0.0007492593,0.0007433675,0.00003926828,0.006181186],"study_design_scores_gemma":[0.000001126734,0.000009781398,0.00007843278,0.000001386739,0.000001149643,0.000003911949,0.000002316818,0.9992454,0.0002923874,0.0003457667,0.00001678333,0.0000015727],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.348931,0.0002334716,0.6477878,0.0002028019,0.00003080346,0.00006775594,0.00007773548,0.000566185,0.00210236],"genre_scores_gemma":[0.965064,0.00005350367,0.03399221,0.00003792716,0.00000657416,0.00004859055,0.0001178434,0.00004570104,0.0006336632],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.006127088,"threshold_uncertainty_score":0.01218283,"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."}}