相关论文: iMHS: An Incremental Multi-Hypothesis Smoother

Bayesian methods are developed for the multivariate nonparametric regression problem where the domain is taken to be a compact Riemannian manifold. In terms of the latter, the underlying geometry of the manifold induces certain symmetries…

State estimation for legged robots remains challenging because legged odometry generally suffers from limited observability and therefore depends critically on measurement constraints to suppress drift. When exteroceptive sensors are…

The choice of the prior model can have a large impact on the ability to assimilate data. In standard applications of ensemble-based data assimilation, all realizations in the initial ensemble are generated from the same covariance matrix…

Amortized Bayesian inference trains neural networks to solve stochastic inference problems using model simulations, thereby making it possible to rapidly perform Bayesian inference for any newly observed data. However, current…

This paper addresses the issue of model selection for hidden Markov models (HMMs). We generalize factorized asymptotic Bayesian inference (FAB), which has been recently developed for model selection on independent hidden variables (i.e.,…

Motivated by applications arising from sensor networks and machine learning, we consider the problem of minimizing a finite sum of nondifferentiable convex functions where each component function is associated with an agent and a…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…

Many asymptotically minimax procedures for function estimation often rely on somewhat arbitrary and restrictive assumptions such as isotropy or spatial homogeneity. This work enhances the theoretical understanding of Bayesian additive…

Cloud-related parameterizations remain a leading source of uncertainty in climate projections. Although machine learning holds promise for Earth system models (ESMs), many data-driven parameterizations lack interpretability, physical…

We present a static analysis for discovering differentiable or more generally smooth parts of a given probabilistic program, and show how the analysis can be used to improve the pathwise gradient estimator, one of the most popular methods…

We propose an implementation of the Smooth Selection Embedding Method (SSEM) in the setting of Chebyshev polynomials. The SSEM is a hybrid fictitious domain / collocation method which solves boundary value problems in complex domains by…

Forward-backward Probability Hypothesis Density (PHD) smoothing is an efficient way for target tracking in dense clutter environment. Although the target class has been widely viewed as useful information to enhance the target tracking,…

Hybrid dynamical systems are prevalent in science and engineering to express complex systems with continuous and discrete states. To learn the laws of systems, all previous methods for equation discovery in hybrid systems follow a two-stage…

Environmental processes often exhibit complex, non-linear patterns and discontinuities across space and time, posing significant challenges for traditional geostatistical modeling approaches. In this paper, we propose a hybrid…

Ensemble smoother (ES) has been widely used in inverse modeling of hydrologic systems. However, for problems where the distribution of model parameters is multimodal, using ES directly would be problematic. One popular solution is to use a…

Joint sparsity has attracted considerable attention in recent years in many fields including sparse signal recovery in compressed sensing (CS), statistics, and machine learning. Traditional convex models suffer from the suboptimal…

In state space models, smoothing refers to the task of estimating a latent stochastic process given noisy measurements related to the process. We propose an unbiased estimator of smoothing expectations. The lack-of-bias property has…

Millimeter-wave radar provides robust perception in visually degraded environments. However, radar-inertial state estimation is inherently susceptible to drift. Because radar yields only sparse, body-frame velocity measurements, it provides…

Network estimation from multi-variate point process or time series data is a problem of fundamental importance. Prior work has focused on parametric approaches that require a known parametric model, which makes estimation procedures less…

This paper constructs an ensemble-based sampling smoother for four-dimensional data assimilation using a Hybrid/Hamiltonian Monte-Carlo approach. The smoother samples efficiently from the posterior probability density of the solution at the…