Related papers: Robust Student's t based Stochastic Cubature Filte…
This paper focuses on the linear quadratic control (LQC) design of systems corrupted by both stochastic noise and bounded noise simultaneously. When only of these noises are considered, the LQC strategy leads to stochastic or robust…
Learning with noisy labels (LNL) aims to ensure model generalization given a label-corrupted training set. In this work, we investigate a rarely studied scenario of LNL on fine-grained datasets (LNL-FG), which is more practical and…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
This article is concerned with the well-posedness of the "filtering equations", due to Zakai and Kushner-Stratonovich, arising in nonlinear stochastic filtering. In general situations, notably in correlated diffusion models and when signal…
This paper is concerned with a problem of robust filtering for a finite-dimensional linear discrete time invariant system with two output signals, one of which is directly observed while the other has to be estimated. The system is assumed…
Using a perturbation technique, we derive a new approximate filtering and smoothing methodology generalizing along different directions several existing approaches to robust filtering based on the score and the Hessian matrix of the…
Accurate modeling is crucial in many engineering and scientific applications, yet obtaining a reliable process model for complex systems is often challenging. To address this challenge, we propose a novel framework, reservoir computing with…
The Recursive KalmanNet, recently introduced by the authors, is a recurrent neural network guided by a Kalman filter, capable of estimating the state variables and error covariance of stochastic dynamic systems from noisy measurements,…
We investigate the potential of stochastic neural networks for learning effective waveform-based acoustic models. The waveform-based setting, inherent to fully end-to-end speech recognition systems, is motivated by several comparative…
Motion planning is a fundamental problem and focuses on finding control inputs that enable a robot to reach a goal region while safely avoiding obstacles. However, in many situations, the state of the system may not be known but only…
Here we revisit the classic problem of linear quadratic estimation, i.e. estimating the trajectory of a linear dynamical system from noisy measurements. The celebrated Kalman filter gives an optimal estimator when the measurement noise is…
This paper presents a novel Learning-based Model Predictive Contouring Control (L-MPCC) algorithm for evasive manoeuvres at the limit of handling. The algorithm uses the Student-t Process (STP) to minimise model mismatches and uncertainties…
We investigate robust nonparametric regression in the presence of heavy-tailed noise, where the hypothesis class may contain unbounded functions and robustness is ensured via a robust loss function $\ell_\sigma$. Using Huber regression as a…
Attitude and Heading Reference Systems (AHRSs) are broadly applied wherever reliable orientation and motion sensing is required. In this paper, we present an improved Cubature Kalman Filter (CKF) with lower computational cost while…
Robust compressive sensing(CS) reconstruction has become an attractive research topic in recent years. Robust CS aims to reconstruct the sparse signals under non-Gaussian(i.e. heavy tailed) noises where traditional CS reconstruction…
In this paper we propose a framework towards achieving two intertwined objectives: (i) equipping reinforcement learning with active exploration and deliberate information gathering, such that it regulates state and parameter uncertainties…
This paper develops the theoretical framework and the equations of a new robust Generalized Maximum-likelihood-type Unscented Kalman Filter (GM-UKF) that is able to suppress observation and innovation outliers while filtering out…
Binary Stochastic Filtering (BSF), the algorithm for feature selection and neuron pruning is proposed in this work. The method defines filtering layer which penalizes amount of the information involved in the training process. This…
Reinforcement Learning from AI Feedback (RLAIF) relies on LLM judges as preference measurement instruments, yet these instruments are fundamentally limited by random measurement errors -- stochastic fluctuations that manifest as preference…
We present StochasticBarrier.jl, an open-source Julia-based toolbox for generating Stochastic Barrier Functions (SBFs) for safety verification of discrete-time stochastic systems with additive Gaussian noise. StochasticBarrier.jl certifies…