An autonomous 9-DOF mobile-manipulator system for in situ 3D object modeling
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.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| 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 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.007 | 0.002 |
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".