Multi-metric comparison of optimal 2D grasp planning algorithms
Bibliographic record
Abstract
The planning of optimal grasps is an important problem in robotics which has been investigated by many researchers. The large number of available methods has made it difficult to discern those which plan a grasp with good overall performance, i.e., one with high strength, insensitivity to positioning errors, and ease of computation. In this paper, a new grasp planning method is introduced and compared to three existing planning methods using three such metrics. A new metric for measuring the sensitivity of a grasp to positioning errors is also introduced. Since grasp planning is much simpler in 2D, and 2D grasps are applicable to many 3D objects, the four methods involve only a 2D analysis. The methods are applied to a set of six polygonal objects, ranging from 3 sided to 74 sided, and their overall performance is compared. The benchmarking procedure is readily applicable to other grasp planning methods.
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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 | 0.004 | 0.013 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.002 | 0.001 |
| Bibliometrics | 0.004 | 0.002 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.001 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 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 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".