Related papers: A Stochastic Global Identification Framework for A…
FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics…
From metronomes to celestial bodies, mechanics underpins how the world evolves in time and space. With consideration of this, a number of recent neural network models leverage inductive biases from classical mechanics to encourage model…
Modeling stochastic traffic behaviors at the microscopic level, such as car-following and lane-changing, is a crucial task to understand the interactions between individual vehicles in traffic streams. Leveraging a recently developed theory…
Modeling real-world systems requires accounting for noise - whether it arises from unpredictable fluctuations in financial markets, irregular rhythms in biological systems, or environmental variability in ecosystems. While the behavior of…
Air traffic can be significantly disrupted by weather. Pathfinder operations involve assigning a designated aircraft to assess whether airspace that was previously impacted by weather can be safely traversed through. Despite relatively…
Vision-based Unmanned Aerial Vehicle (UAV) localization systems have been extensively investigated for Global Navigation Satellite System (GNSS)-denied environments. However, existing retrieval-based approaches face limitations in dataset…
Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…
This paper proposes a data-driven control framework to regulate an unknown, stochastic linear dynamical system to the solution of a (stochastic) convex optimization problem. Despite the centrality of this problem, most of the available…
We present a continuous time state estimation framework that unifies traditionally individual tasks of smoothing, tracking, and forecasting (STF), for a class of targets subject to smooth motion processes, e.g., the target moves with nearly…
Exploring the intersection of deterministic and stochastic dynamics, this paper delves into Lagrangian discovery for conservative and non-conservative systems under stochastic excitation. Traditional Lagrangian frameworks, adept at…
This paper presents a data-driven approach to model planar pushing interaction to predict both the most likely outcome of a push and its expected variability. The learned models rely on a variation of Gaussian processes with input-dependent…
Data assimilation (DA) integrates observations with a dynamical model to estimate states of PDE-governed systems. Model-driven methods (e.g., Kalman, particle) presuppose full knowledge of the true dynamics, which is not always satisfied in…
Stochastic dynamical systems are ubiquitous in physics, biology, and engineering, where both deterministic drifts and random fluctuations govern system behavior. Learning these dynamics from data is particularly challenging in…
In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…
Functional data analysis, which models data as realizations of random functions over a continuum, has emerged as a useful tool for time series data. Often, the goal is to infer the dynamic connections (or time-varying conditional…
State-space models are dynamical systems defined by a latent and an observed process. In ecology, stochastic state-space models in discrete time are most often used to describe the imperfectly observed dynamics of population sizes or animal…
Accurate Traffic Prediction is a challenging task in intelligent transportation due to the spatial-temporal aspects of road networks. The traffic of a road network can be affected by long-distance or long-term dependencies where existing…
This paper proposes a probabilistic Bayesian formulation for system identification (ID) and estimation of nonseparable Hamiltonian systems using stochastic dynamic models. Nonseparable Hamiltonian systems arise in models from diverse…
Generative Flow Networks (or GFlowNets for short) are a family of probabilistic agents that learn to sample complex combinatorial structures through the lens of "inference as control". They have shown great potential in generating…
An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…