Using simplified geometric models in skill-based manipulation for objects used in daily life
Why this work is in the frame
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Bibliographic record
Abstract
Recently many types of robots have been playing an active part in various fields. The operation of these robots’ manipulators is an important subject of research. The tasks of manipulation can be regarded as sequences of several motion primitives called “skills”. Skills also have ability to compensate for errors both in modeling and in execution. Data may occur in the elements of the shapes, positions and orientations of objects that can be dispensed with to make geometric models simpler. In order to achieve tasks with high reliability, this paper proposes simplified geometric models based on skill techniques not only for industrial products but also for objects used in the daily life of humans. As examples of simplified geometric models of objects used in daily life, simplified models in a transfer task of plastic bottles and in a transfer task of a cup are explained.
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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 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| 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