Teleoperation of a mobile robot with model-predictive obstacle avoidance control
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a mixed teleoperation/autonomous control approach for navigation and obstacle avoidance in mobile robots. The proposed method builds on an earlier general control framework that systematically combines teleoperation and autonomous control subtasks. This paper considers a scenario in which the user teleoperates a mobile robot while being assisted by an autonomous subtask designed to help avoid collisions with obstacles in the robot task environment. The autonomous subtask control commands are generated by formulating and solving a constrained optimization problem over a rolling horizon window of time into the future. The effectiveness of the proposed model-predictive control obstacle avoidance scheme is demonstrated in teleoperation experiments with a mobile robot using sonar measurements for obstacle localization.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it