AbstractReliable uncertainty quantification in deep neural networks is very crucial safety-critical applications such as automated driving for trustworthy and informed decision-making. Assessing the quality of estimates challenging ground truth not available. Ideally, a well-calibrated model, should perfectly correlate with model error. We propose novel error aligned optimization method introdu...

in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

We propose a method for learning skills by learning kinesthetic skills via trajectory optimization. We recreate demonstrations by optimizing the trajectory to be near the demonstration. We use the trajectory optimizer, TrajOpt to turn distance metrics, the Frechet and Hausdorff distances, into cost functions that penalize a trajectory from deviating from the demonstration. Using a few technique...

In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...

Abstract In this paper, the ascent trajectory optimization of a lifting body Single-Stage To Orbit (SSTO) reusable launch vehicle is investigated. The work carried out using Direct Multiple Shooting method to solve Optimal Control problem. crucial initialisation optimisation process performed by combination two evolutionary algorithms, namely Multi-Objective Parzen-based Estimation Distribution...

We describe a method for the reconstruction of a driven trajectory of a mobile robot if the begin and end states of the trajectory are known, and intermediate readings from odometry are available. Our method uses a Kalman filter to combine a forward and backward dead-reckoning trajectory. We show that our method is more reliable for long trajectories than just combining the dead-reckoning traje...

No legged walking robot yet approaches the high reliability and the low power usage of a walking person, even on flat ground. Here we describe a robot which makes small progress towards that goal. Ranger is a knee-less 4-legged ‘bipedal’ robot which is energetically and computationally autonomous, except for radio controled steering. It has a total cost of transport [TCOT ≡ P/mgv] of 0.19, less...

Recently, surveillance on moving vehicles for traffic flow monitoring has emerging in rapid rate. A comprehensive traffic data, that is vehicle trajectory, is selected as reliable data for discovering the underlying pattern via trajectory mining. As the task of monitoring moving vehicles via vehicle trajectory dataset can be tedious, researchers are keen to provide solutions that reducing the t...