Related papers: Smooth Online Parameter Estimation for time varyin…
Training state-of-the-art vision models has become prohibitively expensive for researchers and practitioners. For the sake of accessibility and resource reuse, it is important to focus on adapting these models to a variety of downstream…
Visual Parameter-Efficient Fine-Tuning (PEFT) has become a powerful alternative for full fine-tuning so as to adapt pre-trained vision models to downstream tasks, which only tunes a small number of parameters while freezing the vast…
Kalman filtering can provide an optimal estimation of the system state from noisy observation data. This algorithm's performance depends on the accuracy of system modeling and noise statistical characteristics, which are usually challenging…
The Kalman filter is the most powerful tool for estimation of the states of a linear Gaussian system. In addition, using this method, an expectation maximization algorithm can be used to estimate the parameters of the model. However, this…
Smoothing of noisy sample covariances is an important component in functional data analysis. We propose a novel covariance smoothing method based on penalized splines and associated software. The proposed method is a bivariate spline…
State estimation that combines observational data with mathematical models is central to many applications and is commonly addressed through filtering methods, such as ensemble Kalman filters. In this article, we examine the signal-tracking…
RL-based post-training of language models is almost exclusively done using on-policy methods such as PPO. These methods cannot learn from arbitrary sequences such as those produced earlier in training, in earlier runs, by human experts or…
Inference, prediction and control of complex dynamical systems from time series is important in many areas, including financial markets, power grid management, climate and weather modeling, or molecular dynamics. The analysis of such highly…
Autonomous platforms require accurate positioning to complete their tasks. To this end, a Kalman filter-based algorithms, such as the extended Kalman filter or invariant Kalman filter, utilizing inertial and external sensor fusion are…
To capture the slowly time-varying spectral content of real-world time-series, a common paradigm is to partition the data into approximately stationary intervals and perform inference in the time-frequency domain. However, this approach…
Characterizing the long term behavior of dynamical systems given limited measurements is a common challenge throughout the physical and biological sciences. This is a challenging task due to the sparsity and noise inherent to empirical…
In a wide range of applications, the stochastic properties of the observed time series change over time. The changes often occur gradually rather than abruptly: the prop- erties are (approximately) constant for some time and then slowly…
State estimation is crucial for legged robots as it directly affects control performance and locomotion stability. In this paper, we propose an Adaptive Invariant Extended Kalman Filter to improve proprioceptive state estimation for legged…
Offline policy evaluation (OPE) allows us to evaluate and estimate a new sequential decision-making policy's performance by leveraging historical interaction data collected from other policies. Evaluating a new policy online without a…
We present a new approach for estimating parameters in rational ODE models from given (measured) time series data. In typical existing approaches, an initial guess for the parameter values is made from a given search interval. Then, in a…
The Kalman filter and Rauch-Tung-Striebel (RTS) smoother are optimal for state estimation in linear dynamic systems. With nonlinear systems, the challenge consists in how to propagate uncertainty through the state transitions and output…
We study the Extended Kalman Filter in constant dynamics, offering a bayesian perspective of stochastic optimization. We obtain high probability bounds on the cumulative excess risk in an unconstrained setting. In order to avoid any…
Most quantum machine learning (QML) pipelines still rely on static encodings such as angle and amplitude maps, and this limits their ability to handle temporal information. To address this limitation, this paper uses spike-based data…
With the increasing number of parameters in large pre-trained models, LoRA as a parameter-efficient fine-tuning(PEFT) method is widely used for not adding inference overhead. The LoRA method assumes that weight changes during fine-tuning…
Kalman filter (KF) based methods for multi-object tracking (MOT) make an assumption that objects move linearly. While this assumption is acceptable for very short periods of occlusion, linear estimates of motion for prolonged time can be…