Projection-Based Force-Reflection Algorithms With Frequency Separation for Bilateral Teleoperation
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Bibliographic record
Abstract
Projection-based force-reflection (PBFR) algorithms have been previously demonstrated to substantially improve stability characteristics of bilateral teleoperators with communication delays; however, the transient response of the PBFR algorithms suffers from relatively slow force convergence. As a result, the high-frequency component of the reflected force is lost during the initial phase of contact with the environment, which has a strong negative effect on the haptic perception of the environmental stiffness and texture. In this paper, a new type of PBFR algorithms are developed which solve the aforementioned problem. The new algorithms are based on the idea to separate different frequency bands in the force-reflection signal and apply the PBFR principle to the low-frequency component, while reflecting the high-frequency component directly. Both theoretical analysis and experimental results are presented; the results obtained confirm that the new algorithms fundamentally improve force convergence without a negative effect on stability of the teleoperator system with 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