Sensor-based Behavior Control for an Autonomous Underwater Vehicle
Why this work is in the frame
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Bibliographic record
Abstract
In this paper, we evaluate a set of core functions that allow an underwater robot to perform surveillance under operator control. Specifically, we are interested in behaviors that facilitate the monitoring of organisms on a coral reef, and we present behaviors and interaction modes for a small underwater robot. In particular, we address some challenging issues arising from the underwater environment: visual processing, interactive communication with an underwater crew and, finally, orientation and motion of the vehicle through a hovering mode. The visual processing consists of target tracking using various techniques (color segmentation, color histogram and mean shift). Communication underwater is achieved through printed cards with robustly identifiable visual markers on them. Finally, the hovering gait developed for this vehicle relies on the planned motion of six flippers to generate the appropriate forces.
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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 | 0.001 | 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 | 0.000 |
| 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