The Katwijk beach planetary rover dataset
Bibliographic record
Abstract
This paper describes a dataset collected along a 1 km section of beach near Katwijk, The Netherlands, which was populated with a collection of artificial rocks of varying sizes to emulate known rock size densities at current and potential Mars landing sites. First, a fixed-wing unmanned aerial vehicle collected georeferenced images of the entire area. Then, the beach was traversed by a rocker-bogie-style rover equipped with a suite of sensors that are envisioned for use in future planetary rover missions. These sensors, configured so as to emulate the ExoMars rover, include stereo cameras, and time-of-flight and scanning light-detection-and-ranging sensors. This dataset will be of interest to researchers developing localization and mapping algorithms for vehicles traveling over natural and unstructured terrain in environments that do not have access to the global navigation satellite system, and where only previously taken satellite or aerial imagery is available.
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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 | 0.002 |
| Meta-epidemiology (narrow) | 0.002 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.002 | 0.003 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.003 | 0.001 |
| Research integrity | 0.002 | 0.001 |
| Insufficient payload (model declined to judge) | 0.008 | 0.015 |
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".