A Force-Reflection Algorithm for Improved Transparency in Bilateral Teleoperation With Communication Delay
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Bibliographic record
Abstract
The problem of stable force-reflecting teleoperation with time-varying communication delay is addressed in this paper. A new force-reflection (FR) algorithm is presented, where the environmental force reflected on the master side can be altered depending on the forces applied by the human operator. This alteration is not felt by the human operator; however, it makes the FR safe in the sense it does not destroy the stability of the teleoperator system. In particular, using input-to-output stability small gain approach, it is shown that the overall stability in the teleoperator system with the force-reflecting algorithm proposed can be achieved theoretically for arbitrarily low damping on the master side and arbitrarily high FR gain. The simulation results presented confirm that the proposed FR algorithm significantly improves the stability/performance characteristics of the force-reflecting teleoperator system in the presence of time-varying communication delays.
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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 | 0.000 |
| 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