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Multi-regime ICP with Degeneracy and Repeated Structures

  • Task ID: robotics.multiregime_icp_degeneracy
  • Domain: robotics
  • Subdomain: point_cloud_registration
  • Status: final
  • Benchmark set: seed42 (60 tasks)
  • Tags: icp, point_cloud, registration, degeneracy, repeated_structure, slam, state_estimation

Runtime and requirements

  • Estimated time: 30-60 minutes
  • Python: >=3.10
  • Packages: numpy>=2.0.0, scipy>=1.11.0
  • GPU required: no
  • Network required: no

Public input and output contract

Inputs

  • pairs/<ii>/source.npy (data): Source cloud of pair ii, shape [M_src, 3] (metres). M varies per pair. ii = 00..49.
  • pairs/<ii>/target.npy (data): Target cloud of pair ii, shape [M_tgt, 3] (metres). Independently ordered (no index correspondence).
  • task_info.json (data): num_pairs, units, transform convention, output spec. No per-pair regime/difficulty hints.

Outputs

  • analysis.py (code): Script that loads the pairs and produces the outputs.
  • transforms.npy (data): Estimated source->target SE(3) per pair: homogeneous [[R, t],[0,0,0,1]].
  • confidence.npy (data): Confidence in [0,1] per pair; low => agent judges the registration degenerate/unreliable.

Public repository files

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Provenance

This task is included in the current seed42 benchmark set at dataset revision f11a199f71fb4b854ac43a1bf548d5df519141a9.

This page is generated only from files tracked in the public ASI-Bench repository at commit c9c1ba960854. Submission bundles, run logs, private scoring configuration, and private reference answers are not read by this page generator.