YARP Cartesian controller layers over ROS 2 for teleoperation and web applications
Bibliographic record
Abstract
Nuestros trabajos previos introdujeron una arquitectura de teleoperación para brazos robóticos orquestada por el entorno de trabajo e intermediario YARP. Un esquema distribuido de componentes software facilitó la adopción de nuevos periféricos para teleoperación, explorando múltiples modos de control. En este trabajo, proponemos un nexo entre los elementos de YARP ya disponibles y el ecosistema de paquetes y herramientas de Robot Operating System (ROS). Nuestro controlador cartesiano y sus interfaces C++ han servido como base para la nueva implementación, exponiendo comandos del robot y su configuración 3D en la red de ROS 2. Esto ha sido materializado en forma de una aplicación de teleoperación para el ratón 3D SpaceMouse de bajo coste, y una aplicación web construida con la librería React en JavaScript. Ambos componentes han sido probados y validados sobre robots reales y en simulación: sobre la plataforma robótica humanoide TEO y el brazo asistencial AMOR.
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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 | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.000 | 0.001 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.002 | 0.002 |
| Open science | 0.002 | 0.002 |
| Research integrity | 0.001 | 0.002 |
| Insufficient payload (model declined to judge) | 0.019 | 0.006 |
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".