Genetic algorithm based direction finder on the manifold for singularity free paths
Bibliographic record
Abstract
Manipulators that execute tasks by following assigned trajectories, experience limitations in mobility when encountering singularities within their workspace. Generating trajectories for manipulators thus requires the avoidance of singular configurations as way points of the path to prevent the manipulator from assuming poses that limit the degrees of freedom of the manipulator. This paper establishes the need to operate in a singularity free configuration space, utilizes the conditions to define a singularity free manifold for a non-redundant, holonomic manipulator and proposes the Genetic Algorithm Based Direction Finder (GADF) to determine the optimal directions of motion on the implicitly defined manifold to generate a singularity free path from the start to the goal configurations of the defined task. The GADF was successfully simulated using a model of a 3 link planar manipulator followed by an analysis of results and possible improvements.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".