An autonomous 9-DOF mobile-manipulator system for in situ 3D object modeling
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This video presents an autonomous 9-DOF mobile-manipulator system for 3D modeling of objects in situ. The system consists of a mobile manipulator - a powerbot mobile base with a six degrees of freedom (DOF) powercube arm mounted on it. The arm is equipped with a wrist mounted line-scan range sensor, and the powerbot also has a line scan range sensor mounted on it. The task is to autonomously build 3D model of an object in situ. The system assumes no knowledge of either the object or the rest of the workspace of the robot. The overall planner integrates two next best view (NBV) algorithms, one for modeling and the other for exploration, along with a sensor-based roadmap planner for the manipulator and costmap-based planner for the mobile base. We have implemented the system and this video show that system is able to autonomously build a 3D point cloud model of an object in an unknown environment.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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 | 0.001 | 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 | 0.001 | 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