Briefing
The validator checks each value's type, its bounds and a per-parameter rate cap against the state the device reports, and it accepts or rejects a call as a whole. A latching emergency stop sits behind it, and force on the Falcon is clamped to 8 N. The report lists 20,000 generated commands with no invalid value reaching the device, and 0 of 500 commands getting through after an e-stop.
By the report's count, qwen3:4b on a laptop carried out 57% of 42 therapist instructions without reasoning and 76% with it. The project was done at the Sensory-Motor Systems Lab for the EU TAILOR project. The model-side host and the ROS 2 driver are not published, because they are other people's code.
Written by the Boards & Bots curator
From the GitHub API
Repository facts
| Repository | celaltrk/ |
|---|---|
| Stars | 1 |
| License | MIT Permissive |
| Language | Python |
| Last push | 12 Oct 2026 17 d ago |