Spectral and Conformal: Neural Network Methods for Calibrated Trajectory Prediction and Control-Point Intervals
Overview
This research introduces a framework utilizing neural networks with spectral backbones and modified conformal quantile regression to provide calibrated trajectory prediction and control-point intervals. The method integrates interval arithmetic to extend noise-free coverage guarantees, achieving an inference time of approximately 100 Hz (9.81 ms total pipeline) on a Raspberry Pi Zero 2 W for a quadrotor under closed-loop linear quadratic regulation.
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Event evidence and corrections
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Reported quantity · inference_time_ms: 3.45 other · Basis not reported
“under a closed-loop linear quadratic regulator is 3.45~ms on a Raspberry Pi Zero 2 W. The total pipeline time, including trajectory inference time, is 9.81~ms, or approximately 100~Hz, consistent with typical control rates.”
Exact source · revision 1Source owner not reported
Reported quantity · pipeline_time_ms: 9.81 other · Basis not reported
“under a closed-loop linear quadratic regulator is 3.45~ms on a Raspberry Pi Zero 2 W. The total pipeline time, including trajectory inference time, is 9.81~ms, or approximately 100~Hz, consistent with typical control rates.”
Exact source · revision 1Source owner not reported
Reported quantity · frequency_hz: 100 other · Basis not reported
“under a closed-loop linear quadratic regulator is 3.45~ms on a Raspberry Pi Zero 2 W. The total pipeline time, including trajectory inference time, is 9.81~ms, or approximately 100~Hz, consistent with typical control rates.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalSpectral and Conformal: Neural Network Methods for Calibrated Trajectory Prediction and Control-Point Intervals
This research introduces a framework utilizing neural networks with spectral backbones and modified conformal quantile regression to provide calibrated trajectory prediction and control-point intervals. The method integrates interval arithmetic to extend noise-free coverage guarantees, achieving an inference time of approximately 100 Hz (9.81 ms total pipeline) on a Raspberry Pi Zero 2 W for a quadrotor under closed-loop linear quadratic regulation.
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