Multi-Momentum Observer Contact Estimation for Bipedal Robots

Autor: Payne, J. Joe, Hagen, Daniel A., Garagić, Denis, Johnson, Aaron M.

As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are currently in

Externí odkaz: http://arxiv.org/abs/2412.03462

Path Integral Control for Hybrid Dynamical Systems

Autor: Yu, Hongzhe, Franco, Diana Frias, Johnson, Aaron M., Chen, Yongxin

This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid systems un

Externí odkaz: http://arxiv.org/abs/2411.00659

Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems

Autor: Payne, J. Joe, Zhu, James, Kong, Nathan J., Johnson, Aaron M.

In this paper we present Hybrid iterative Linear Quadratic Estimation (HiLQE), an optimization based offline state estimation algorithm for hybrid dynamical systems. We utilize the saltation matrix, a first order approximation of the variational upda

Externí odkaz: http://arxiv.org/abs/2410.19958

Black-box Uncertainty Quantification Method for LLM-as-a-Judge

Autor: Wagner, Nico, Desmond, Michael, Nair, Rahul, Ashktorab, Zahra, Daly, Elizabeth M., Pan, Qian, Cooper, Martín Santillán, Johnson, James M., Geyer, Werner

LLM-as-a-Judge is a widely used method for evaluating the performance of Large Language Models (LLMs) across various tasks. We address the challenge of quantifying the uncertainty of LLM-as-a-Judge evaluations. While uncertainty quantification has be

Externí odkaz: http://arxiv.org/abs/2410.11594

Measurement of elliptic flow of J$/\psi$ in $\sqrt{s_{_{NN}}}=200$ GeV Au$+$Au collisions at forward rapidity

Autor: PHENIX Collaboration, Abdulameer, N. J., Acharya, U., Adare, A., Aidala, C., Ajitanand, N. N., Akiba, Y., Alfred, M., Antsupov, S., Aoki, K., Apadula, N., Asano, H., Ayuso, C., Azmoun, B., Babintsev, V., Bai, M., Bandara, N. S., Bannier, B., Bannikov, E., Barish, K. N., Bathe, S., Bazilevsky, A., Beaumier, M., Beckman, S., Belmont, R., Berdnikov, A., Berdnikov, Y., Bichon, L., Blankenship, B., Blau, D. S., Boer, M., Bok, J. S., Borisov, V., Boyle, K., Brooks, M. L., Bryslawskyj, J., Bumazhnov, V., Butler, C., Campbell, S., Roman, V. Canoa, Chen, C. -H., Chen, D., Chiu, M., Chi, C. Y., Choi, I. J., Choi, J. B., Chujo, T., Citron, Z., Connors, M., Corliss, R., Csanád, M., Csörgő, T., Liu, L. D., Danley, T. W., Datta, A., Daugherity, M. S., David, G., DeBlasio, K., Dehmelt, K., Denisov, A., Deshpande, A., Desmond, E. J., Dion, A., Diss, P. B., Doomra, V., Do, J. H., Drees, A., Drees, K. A., Dumancic, M., Durham, J. M., Durum, A., Elder, T., Enokizono, A., Esha, R., Fadem, B., Fan, W., Feege, N., Fields, D. E., Finger, Jr., M., Finger, M., Firak, D., Fitzgerald, D., Fokin, S. L., Frantz, J. E., Franz, A., Frawley, A. D., Fukuda, Y., Gallus, P., Gal, C., Garg, P., Ge, H., Giordano, F., Glenn, A., Goto, Y., Grau, N., Greene, S. V., Perdekamp, M. Grosse, Gunji, T., Guo, T., Hachiya, T., Haggerty, J. S., Hahn, K. I., Hamagaki, H., Hamilton, H. F., Hanks, J., Han, S. Y., Hasegawa, S., Haseler, T. O. S., Hashimoto, K., Hemmick, T. K., He, X., Hill, J. C., Hill, K., Hodges, A., Hollis, R. S., Homma, K., Hong, B., Hoshino, T., Hotvedt, N., Huang, J., Imai, K., Imrek, J., Inaba, M., Iordanova, A., Isenhower, D., Ito, Y., Ivanishchev, D., Jacak, B., Jezghani, M., Jiang, X., Ji, Z., Johnson, B. M., Jorjadze, V., Jouan, D., Jumper, D. S., Kanda, S., Kang, J. H., Kapukchyan, D., Karthas, S., Kawall, D., Kazantsev, A. V., Key, J. A., Khachatryan, V., Khanzadeev, A., Kimelman, B., Kim, C., Kim, D. J., Kim, E. -J., Kim, G. W., Kim, M., Kim, M. H., Kincses, D., Kistenev, E., Kitamura, R., Klatsky, J., Kleinjan, D., Kline, P., Koblesky, T., Komkov, B., Kotov, D., Kovacs, L., Kudo, S., Kurita, K., Kurosawa, M., Kwon, Y., Lajoie, J. G., Lallow, E. O., Lebedev, A., Lee, S., Lee, S. H., Leitch, M. J., Leung, Y. H., Lewis, N. A., Lim, S. H., Liu, M. X., Li, X., Loggins, V. -R., Lökös, S., Loomis, D. A., Lynch, D., Majoros, T., Makdisi, Y. I., Makek, M., Malaev, M., Manion, A., Manko, V. I., Mannel, E., Masuda, H., McCumber, M., McGaughey, P. L., McGlinchey, D., McKinney, C., Meles, A., Mendoza, M., Mignerey, A. C., Mihalik, D. E., Milov, A., Mishra, D. K., Mitchell, J. T., Mitrankova, M., Mitrankov, Iu., Mitsuka, G., Miyasaka, S., Mizuno, S., Mohanty, A. K., Montuenga, P., Moon, T., Morrison, D. P., Morrow, S. I., Moukhanova, T. V., Mulilo, B., Murakami, T., Murata, J., Mwai, A., Nagai, K., Nagashima, K., Nagashima, T., Nagle, J. L., Nagy, M. I., Nakagawa, I., Nakagomi, H., Nakano, K., Nattrass, C., Netrakanti, P. K., Niida, T., Nishimura, S., Nouicer, R., Novitzky, N., Novotny, R., Novák, T., Nukazuka, G., Nyanin, A. S., O'Brien, E., Ogilvie, C. A., Koop, J. D. Orjuela, Orosz, M., Osborn, J. D., Oskarsson, A., Ozawa, K., Pak, R., Pantuev, V., Papavassiliou, V., Park, J. S., Park, S., Patel, M., Pate, S. F., Peng, J. -C., Peng, W., Perepelitsa, D. V., Perera, G. D. N., Peressounko, D. Yu., PerezLara, C. E., Perry, J., Petti, R., Phipps, M., Pinkenburg, C., Pinson, R., Pisani, R. P., Potekhin, M., Pun, A., Purschke, M. L., Rak, J., Ramson, B. J., Ravinovich, I., Read, K. F., Reynolds, D., Riabov, V., Riabov, Y., Richford, D., Rinn, T., Rolnick, S. D., Rosati, M., Rowan, Z., Rubin, J. G., Runchey, J., Sahlmueller, B., Saito, N., Sakaguchi, T., Sako, H., Samsonov, V., Sarsour, M., Sato, K., Sato, S., Schaefer, B., Schmoll, B. K., Sedgwick, K., Seidl, R., Seleznev, A., Sen, A., Seto, R., Sett, P., Sexton, A., Sharma, D., Shein, I., Shibata, T. -A., Shigaki, K., Shimomura, M., Shukla, P., Sickles, A., Silva, C. L., Silvermyr, D., Singh, B. K., Singh, C. P., Singh, V., Slunečka, M., Smith, K. L., Snowball, M., Soltz, R. A., Sondheim, W. E., Sorensen, S. P., Sourikova, I. V., Stankus, P. W., Stepanov, M., Stoll, S. P., Sugitate, T., Sukhanov, A., Sumita, T., Sun, J., Sun, Z., Syed, S., Sziklai, J., Takeda, A., Taketani, A., Tanida, K., Tannenbaum, M. J., Tarafdar, S., Taranenko, A., Tarnai, G., Tieulent, R., Timilsina, A., Todoroki, T., Tomášek, M., Towell, C. L., Towell, R., Towell, R. S., Tserruya, I., Ueda, Y., Ujvari, B., van Hecke, H. W., Vazquez-Carson, S., Velkovska, J., Virius, M., Vrba, V., Wang, X. R., Wang, Z., Watanabe, Y., Watanabe, Y. S., Wei, F., White, A. S., Wong, C. P., Woody, C. L., Wysocki, M., Xia, B., Xue, L., Xu, C., Xu, Q., Yalcin, S., Yamaguchi, Y. L., Yanovich, A., Yin, P., Yoon, I., Yoo, J. H., Yushmanov, I. E., Yu, H., Zajc, W. A., Zelenski, A., Zhou, S., Zou, L.

We report the first measurement of the azimuthal anisotropy of J$/\psi$ at forward rapidity ($1.2<|\eta|<2.2$) in Au$+$Au collisions at $\sqrt{s_{_{NN}}}=200$ GeV at the Relativistic Heavy Ion Collider. The data were collected by the PHENIX experimen

Externí odkaz: http://arxiv.org/abs/2409.12756