Abstract: The subject disclosure relates to ways to determine the mass of a vehicle, such as an autonomous vehicle (AV), based on the vehicle pose. In some aspects, a method of the disclosed technology includes steps for measuring a first pose of a vehicle using one or more environmental sensors, measuring a second pose of the vehicle using the one or more environmental sensors, and calculating a mass of the vehicle based on the first pose and the second pose. Systems and machine-readable media are also provided.

Abstract: The disclosed technology provides solutions for vehicle charging and in particular, for automating vehicle charging operations. In some aspects, an automated charging station is provided. The charging station can include a base, a rotary actuator mounted to the base, and an arm coupled to the first rotary actuator at a proximal portion, wherein the first rotary actuator is configured to rotate the arm about a z-axis with respect to the base. In some aspects, the automated charging station further includes a linear actuator coupled to the arm at a distal portion, and a charging assembly coupled to the linear actuator, wherein the linear actuator is configured to actuate the charging assembly in a linear direction with respect to the base. Methods for assembling and using an automated charging station are also provided.