相关论文: A Probabilistic Framework for Moving-Horizon Estim…

Objective functions based on Hellinger distance yield robust and efficient estimators of model parameters. Motivated by privacy and regulatory requirements encountered in contemporary applications, we derive in this paper \emph{private…

This paper presents a recursive solution to the receding or moving horizon estimation (MHE) problem for nonlinear time-variant systems. We provide the conditions under which the recursive MHE is equivalent to the extended Kalman filter…

This paper introduces a framework for uncertainty quantification in regression models defined in metric spaces. Leveraging a newly defined notion of homoscedasticity, we develop a conformal prediction algorithm that offers finite-sample…

In this paper, we develop a general framework to design differentially private expectation-maximization (EM) algorithms in high-dimensional latent variable models, based on the noisy iterative hard-thresholding. We derive the statistical…

This paper proposes an algorithm that combines Fast Moving Horizon Parameter Estimation and Model Predictive Control subject to an observability constraint designed to ensure a lower bound on the performance of the parameter estimator.…

Optimisation-based algorithms known as Moving Horizon Estimator (MHE) have been developed through the years. This paper illustrates the implementation of the policy introduced in the companion paper submitted to the 18th IFAC Workshop on…

Continuum robots, made from flexible materials with continuous backbones, have several advantages over traditional rigid robots. Some of them are the ability to navigate through narrow or confined spaces, adapt to irregular or changing…

The assumption of log-concavity is a flexible and appealing nonparametric shape constraint in distribution modelling. In this work, we study the log-concave maximum likelihood estimator (MLE) of a probability mass function (pmf). We show…

Reliable neural networks (NNs) provide important inference-time reliability guarantees such as fairness and robustness. Complementarily, privacy-preserving NN inference protects the privacy of client data. So far these two emerging areas…

Moving Horizon Estimation~(MHE) is essentially an optimization-based approach designed to estimate the states of dynamic systems within a moving time horizon. Traditional MHE solutions become computationally prohibitive due to the…

The parameter estimation of unnormalized models is a challenging problem. The maximum likelihood estimation (MLE) is computationally infeasible for these models since normalizing constants are not explicitly calculated. Although some…

Local differential privacy~(LDP) is an information-theoretic privacy definition suitable for statistical surveys that involve an untrusted data curator. An LDP version of quasi-maximum likelihood estimator~(QMLE) has been developed, but the…

FRAME (Filters, Random fields, And Maximum Entropy) is an energy-based descriptive model that synthesizes visual realism by capturing mutual patterns from structural input signals. The maximum likelihood estimation (MLE) is applied by…

Kaplan-Meier estimators are essential tools in survival analysis, capturing the survival behavior of a cohort. Their accuracy improves with large, diverse datasets, encouraging data holders to collaborate for more precise estimations.…

Efficient Bayesian model selection relies on the model evidence or marginal likelihood, whose computation often requires evaluating an intractable integral. The harmonic mean estimator (HME) has long been a standard method of approximating…

This paper presents an open-source miniature car-like robot with low-cost sensing and a pipeline for optimization-based system identification, state estimation, and control. The overall robotics platform comes at a cost of less than \$\,700…

This paper aims to devise a generalized maximum likelihood (ML) estimator to robustly detect signals with unknown noise statistics in multiple-input multiple-output (MIMO) systems. In practice, there is little or even no statistical…

The primary objective of this scholarly work is to develop two estimation procedures - maximum likelihood estimator (MLE) and method of trimmed moments (MTM) - for the mean and variance of lognormal insurance payment severity data sets…

Bayesian inference provides a principled framework for learning from complex data and reasoning under uncertainty. It has been widely applied in machine learning tasks such as medical diagnosis, drug design, and policymaking. In these…

For reliable and safe battery operations, accurate and robust State of Charge (SOC) and model parameters estimation are vital. However, the nonlinear dependency of the model parameters on battery states makes the problem challenging. We…