相关论文: Switching Recurrent Kalman Networks

Estimating accurate forward and inverse dynamics models is a crucial component of model-based control for sophisticated robots such as robots driven by hydraulics, artificial muscles, or robots dealing with different contact situations.…

Trajectory prediction is a critical technique in the navigation of robots and autonomous vehicles. However, the complex traffic and dynamic uncertainties yield challenges in the effectiveness and robustness in modeling. We purpose a…

In order to integrate uncertainty estimates into deep time-series modelling, Kalman Filters (KFs) (Kalman et al., 1960) have been integrated with deep learning models, however, such approaches typically rely on approximate inference…

Vehicle state estimation presents a fundamental challenge for autonomous driving systems, requiring both physical interpretability and the ability to capture complex nonlinear behaviors across diverse operating conditions. Traditional…

Dynamical models estimate and predict the temporal evolution of physical systems. State Space Models (SSMs) in particular represent the system dynamics with many desirable properties, such as being able to model uncertainty in both the…

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…

Recurrent neural networks are widely used on time series data, yet such models often ignore the underlying physical structures in such sequences. A new class of physics-based methods related to Koopman theory has been introduced, offering…

Temporal distributional shifts, with underlying dynamics changing over time, frequently occur in real-world time series and pose a fundamental challenge for deep neural networks (DNNs). In this paper, we propose a novel deep sequence model…

High fidelity behavior prediction of human drivers is crucial for efficient and safe deployment of autonomous vehicles, which is challenging due to the stochasticity, heterogeneity, and time-varying nature of human behaviors. On one hand,…

State estimation of dynamical systems in real-time is a fundamental task in signal processing. For systems that are well-represented by a fully known linear Gaussian state space (SS) model, the celebrated Kalman filter (KF) is a low…

The identification and modeling of time-varying systems is a fundamental challenge in signal processing and system identification. To address this challenge, we propose a class of time-varying state-space model (SSM) based neural networks…

Autonomous driving has received a great deal of attention in the automotive industry and is often seen as the future of transportation. The development of autonomous driving technology has been greatly accelerated by the growth of…

Understanding human driving behaviors quantitatively is critical even in the era when connected and autonomous vehicles and smart infrastructure are becoming ever more prevalent. This is particularly so as that mixed traffic settings, where…

Forecasting the motion of surrounding obstacles (vehicles, bicycles, pedestrians and etc.) benefits the on-road motion planning for intelligent and autonomous vehicles. Complex scenes always yield great challenges in modeling the patterns…

The information contained in a time series is more than what the values themselves are. In this paper, the Time-variant Local Autocorrelated Polynomial model with Kalman filter is proposed to model the underlying dynamics of a time series…

A novel approach for vehicle tracking using a hybrid adaptive Kalman filter is proposed. The filter utilizes recurrent neural networks to learn the vehicle's geometrical and kinematic features, which are then used in a supervised learning…

Spatiotemporal graph neural networks (STGNNs) have shown promising results in many domains, from forecasting to epidemiology. However, understanding the dynamics learned by these models and explaining their behaviour is significantly more…

Koopman theory asserts that a nonlinear dynamical system can be mapped to a linear system, where the Koopman operator advances observations of the state forward in time. However, the observable functions that map states to observations are…

This work introduces a scalable filtering algorithm for multi-agent traffic estimation. Large-scale networks are spatially partitioned into overlapping road sections. The traffic dynamics of each section is given by the switching mode model…

Significant efforts have gone into the development of statistical models for analyzing data in the form of networks, such as social networks. Most existing work has focused on modeling static networks, which represent either a single time…