相关论文: Equivariant Filter Design for Kinematic Systems on…

In this work we obtain the general form of polynomial mappings that commute with a linear action of a relative symmetry group. The aim is to give results for relative equivariant polynomials that correspond to the results for relative…

In this paper, we propose an approach for computing invariant sets of discrete-time nonlinear systems by lifting the nonlinear dynamics into a higher dimensional linear model. In particular, we focus on the \emph{maximal admissible…

Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) are used for a wide variety of missions related to exploration and scientific research. Successful navigation by these systems requires a good localization system.…

Recent works show that group equivariance as an inductive bias improves neural network performance for both classification and generation. However, designing group-equivariant neural networks is challenging when the group of interest is…

In recent years, skeleton-based action recognition has become a popular 3D classification problem. State-of-the-art methods typically first represent each motion sequence as a high-dimensional trajectory on a Lie group with an additional…

Linear observed systems on groups encode the geometry of a variety of practical state estimation problems. In this paper, we propose an observer framework for a class of linear observed systems by restricting a bi-invariant system on a Lie…

Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…

Ensemble Kalman filter (EnKF) is an important data assimilation method for high dimensional geophysical systems. Efficient implementation of EnKF in practice often involves the localization technique, which updates each component using only…

Many nonlinear dynamical systems exhibit symmetry, affording substantial benefits for control design, observer architecture, and data-driven control. While the classical notion of group invariance enables a cascade decomposition of the…

Machine-learning (ML) force fields enable large-scale simulations with near-first-principles accuracy at substantially reduced computational cost. Recent work has extended ML force-field approaches to adiabatic dynamical simulations of…

We introduce Equivariant Isomorphic Networks (EquIN) -- a method for learning representations that are equivariant with respect to general group actions over data. Differently from existing equivariant representation learners, EquIN is…

System identification of complex and nonlinear systems is a central problem for model predictive control and model-based reinforcement learning. Despite their complexity, such systems can often be approximated well by a set of linear…

We introduce ChebLieNet, a group-equivariant method on (anisotropic) manifolds. Surfing on the success of graph- and group-based neural networks, we take advantage of the recent developments in the geometric deep learning field to derive a…

Plug-and-play algorithms constitute a popular framework for solving inverse imaging problems that rely on the implicit definition of an image prior via a denoiser. These algorithms can leverage powerful pre-trained denoisers to solve a wide…

The ensemble Kalman filter (EnKF) is a data assimilation technique that uses an ensemble of models, updated with data, to track the time evolution of a usually non-linear system. It does so by using an empirical approximation to the…

Due to the state trajectory-independent features of invariant Kalman filtering (InEKF), it has attracted widespread attention in the research community for its significantly improved state estimation accuracy and convergence under…

Many machine learning tasks involve learning functions that are known to be invariant or equivariant to certain symmetries of the input data. However, it is often challenging to design neural network architectures that respect these…

This paper introduces a generative model equivariant to Euclidean symmetries: E(n) Equivariant Normalizing Flows (E-NFs). To construct E-NFs, we take the discriminative E(n) graph neural networks and integrate them as a differential…

Invariant Extended Kalman Filter (IEKF) has been successfully applied in Visual-inertial Odometry (VIO) as an advanced achievement of Kalman filter, showing great potential in sensor fusion. In this paper, we propose partial IEKF (PIEKF),…

Many successful deep learning architectures are equivariant to certain transformations in order to conserve parameters and improve generalization: most famously, convolution layers are equivariant to shifts of the input. This approach only…