Terrain Recognition in Real-Time for a Legged Robot based on Ontology Information
Why this work is in the frame
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Bibliographic record
Abstract
The walking stability of legged robot in unknown environment is closely related to its perceptual ability of environment. This paper proposes a method to identify the terrain where the robot is located online based on robot ontology information such as joint encoders’ data and current data, combined with support vector machine. The robot interacts with the terrain in a jumping manner. Then, the feature extraction of three terrain (fat ground, slope, sand) is carried out by means of current acquisition, slope estimation and collision force estimation, and the data model is established correspondingly. The method proposed in this paper is validated in experimental results. Based on the model, the robot can achieve accurate perception for these three types of terrains.
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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 | 0.001 |
| 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