相关论文: TurKPF: TurKontrol as a Particle Filter

Differentiable particle filters provide a flexible mechanism to adaptively train dynamic and measurement models by learning from observed data. However, most existing differentiable particle filters are within the bootstrap particle…

Imitation Learning has empowered recent advances in learning robotic manipulation tasks by addressing shortcomings of Reinforcement Learning such as exploration and reward specification. However, research in this area has been limited to…

In this paper, we present a theoretical framework for tackling the cold-start collaborative filtering problem, where unknown targets (items or users) keep coming to the system, and there is a limited number of resources (users or items)…

Computational micromagnetics has become an essential tool in academia and industry to support fundamental research and the design and development of devices. Consequently, computational micromagnetics is widely used in the community, and…

This paper examines the impact of approximation steps that become necessary when particle filters are implemented on resource-constrained platforms. We consider particle filters that perform intermittent approximation, either by subsampling…

Partially observable Markov decision processes (POMDPs) provide a principled framework for sequential planning in uncertain single agent settings. An extension of POMDPs to multiagent settings, called interactive POMDPs (I-POMDPs), replaces…

Self-organizing systems consume energy to generate internal order. The concept of thermodynamic efficiency, drawing from statistical physics and information theory, has previously been proposed to characterise a change in control parameter…

In this work, we propose the model of timed partial orders (TPOs) for specifying workflow schedules, especially for modeling manufacturing processes. TPOs integrate partial orders over events in a workflow, specifying ``happens-before''…

We propose a particle-based distributed PHD filter for tracking an unknown, time-varying number of targets. To reduce communication, the local PHD filters at neighboring sensors communicate Gaussian mixture (GM) parameters. In contrast to…

This paper is about a parallel algorithm for tube-based model predictive control. The proposed control algorithm solves robust model predictive control problems suboptimally, while exploiting their structure. This is achieved by…

Developing of an effective flow control algorithm to avoid congestion is a hot topic in computer network society. This document gives a mathematical model for general network at the beginning, and then discrete control theory is proposed as…

Particle filters are a group of algorithms to solve inverse problems through statistical Bayesian methods when the model does not comply with the linear and Gaussian hypothesis. Particle filters are used in domains like data assimilation,…

In general-purpose particle detectors, the particle-flow algorithm may be used to reconstruct a comprehensive particle-level view of the event by combining information from the calorimeters and the trackers, significantly improving the…

This paper addresses 6-DOF (degree-of-freedom) tactile localization, i.e. the pose estimation of tridimensional objects given tactile measurements. This estimation problem is fundamental for the operation of autonomous robots that are often…

A new formulation of the particle filter for nonlinear filtering is presented, based on concepts from optimal control, and from the mean-field game theory. The optimal control is chosen so that the posterior distribution of a particle…

Calculating true volatility is an essential task for option pricing and risk management. However, it is made difficult by market microstructure noise. Particle filtering has been proposed to solve this problem as it favorable statistical…

Filtering is concerned with online estimation of the state of a dynamical system from partial and noisy observations. In applications where the state of the system is high dimensional, ensemble Kalman filters are often the method of choice.…

Motivated by non-linear, non-Gaussian, distributed multi-sensor/agent navigation and tracking applications, we propose a multi-rate consensus/fusion based framework for distributed implementation of the particle filter (CF/DPF). The CF/DPF…

This work-in-progress paper describes a vision, i.e., that of fast and reliable software user experience studies conducted with the help from the crowd. Commonly, user studies are controlled in-lab activities that require the instruction,…

Partially Observable Markov Decision Processes (POMDPs) provide a structured framework for decision-making under uncertainty, but their application requires efficient belief updates. Sequential Importance Resampling Particle Filters…