Haptic Interactions Subject to Variable Latency
Why this work is in the frame
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Bibliographic record
Abstract
Model-Mediated Teleoperation (MMT) between a haptic device and a remote or virtual environment uses a local model of the environment to compensate for latency of communication. MMT is often case-specific, and requires underlying latency distributions to be known. We propose a novel approach - which we refer to as the DelayRIM - which uses the time-stepping aspect of a Reduced Interface Model for the environment to render an up-to-date force to the haptic device from the delayed information. RIM is applicable to any physical or virtual system, and the DelayRIM itself makes no underlying assumption about the latency distribution. We show that for realistic variable delays, the DelayRIM improves transparency compared to other methods for a virtual drone bilateral teleoperation scenario.
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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) | 0.001 | 0.003 |
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