Using the DIMMACSS-PSG Intelligent Robotic Middleware to Control Real-World and Simulated Multi-Agent Systems
Why this work is in the frame
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Bibliographic record
Abstract
DIMMACSS-PSG is a free and open-source intelligent robotic middleware that allows a Simulink controller to control a physical real-world multi-agent system or a simulated multi-agent system existing within the Player/Stage/Gazebo general-purpose robotic simulator, using the exact same control system for both in an optimal and efficient manner. A general-purpose robotic simulator, such as Player/Stage/Gazebo, is designed to simulate everything inherent in a real-world robotics experiment, including all types of robotic hardware such as actuators and sensors (stereo-vision camera’s, moving/rotating parts, motors, etc), and provides realistic environments, physics, and sensor data. Intelligent robotic middleware, such as DIMMACSS-PSG, is the class of technologies that sit between a theoretical algorithm/function and the target real-world or simulated devices, and is required in order to actually realize an application such as one implemented on an unmanned aerial vehicle or a surface exploration robot. This paper discusses the motivation for DIMMACSS-PSG, details the important design decisions, and presents a demonstration of a Simulink controller that uses DIMMACSS-PSG to control both a simulated multi-agent system and a real-world multi-agent system.
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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