Textures recognition through tactile exploration for robotic applications
Bibliographic record
Abstract
Achieving texture recognition through processing of tactile information could significantly improve robotic prehensile and manipulative capabilities. By producing an object signature based on such information, mishandling due to friction or slippage could be avoided. However, this would require acquisition and processing of tactile data in close to real time in order to function at task speed. This paper proposes a new texture-discriminating algorithm that requires very little exploratory movement. We compared the success rate of two types of exploratory movement for the recognition textures with directional properties such as grooves. Another goal of this study was to obtain an algorithm that is largely insensitive to the velocity and contact force of the sensor movement. We used a genetic algorithm to optimize the variables and the topology of our neural network. We improved the results with a new approach to majority voting that does not require numerous samples. Object classification was more than 90% correct and most of the errors involved textures that humans are barely able to differentiate.
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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 | 0.000 | 0.001 |
| 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 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 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".