相关论文: In-context learning of state estimators

Classical state estimation algorithms rely on predefined target's state-space model, which complicates model derivation and limits adaptability when system dynamics change. Neural network based estimators offer a data-driven alternative,…

We present a method of parameter estimation for large class of nonlinear systems, namely those in which the state consists of output derivatives and the flow is linear in the parameter. The method, which solves for the unknown parameter by…

The identification of a nonlinear dynamic model is an open topic in control theory, especially from sparse input-output measurements. A fundamental challenge of this problem is that very few to zero prior knowledge is available on both the…

We introduce a data-driven approach to computing finite bisimulations for state transition systems with very large, possibly infinite state space. Our novel technique computes stutter-insensitive bisimulations of deterministic systems,…

A resilient state estimation scheme for uniformly observable nonlinear systems, based on a method for local identification of sensor attacks, is presented. The estimation problem is combinatorial in nature, and so many methods require…

In-context learning refers to the ability of a model to condition on a prompt sequence consisting of in-context examples (input-output pairs corresponding to some task) along with a new query input, and generate the corresponding output.…

A new framework for nonlinear system identification is presented in terms of optimal fitting of stable nonlinear state space equations to input/output/state data, with a performance objective defined as a measure of robustness of the…

This paper proposes a class of resilient state estimators for LTV discrete-time systems. The dynamic equation of the system is assumed to be affected by a bounded process noise. As to the available measurements, they are potentially…

Nonlinear state-space identification for dynamical systems is most often performed by minimizing the simulation error to reduce the effect of model errors. This optimization problem becomes computationally expensive for large datasets.…

State representation learning aims at learning compact representations from raw observations in robotics and control applications. Approaches used for this objective are auto-encoders, learning forward models, inverse dynamics or learning…

In-context learning is a powerful capability of certain machine learning models that arguably underpins the success of today's frontier AI models. However, in-context learning is critically limited to settings where the in-context…

The performance of machine learning model can be further improved if contextual cues are provided as input along with base features that are directly related to an inference task. In offline learning, one can inspect historical training…

The task of state estimation in active distribution systems faces a major challenge due to the integration of different measurements with multiple reporting rates. As a result, distribution systems are essentially unobservable in real time,…

A concurrent learning (CL)-based parameter estimator is developed to identify the unknown parameters in a linearly parameterized uncertain control-affine nonlinear system. Unlike state-of-the-art CL techniques that assume knowledge of the…

Named entity recognition in real-world applications suffers from the diversity of entity types, the emergence of new entity types, and the lack of high-quality annotations. To address the above problems, this paper proposes an in-context…

We consider the problem of learning observation models for robot state estimation with incremental non-differentiable optimizers in the loop. Convergence to the correct belief over the robot state is heavily dependent on a proper tuning of…

State estimation or filtering serves as a fundamental task to enable intelligent decision-making in applications such as autonomous vehicles, robotics, healthcare monitoring, smart grids, intelligent transportation, and predictive…

To perform robot manipulation tasks, a low-dimensional state of the environment typically needs to be estimated. However, designing a state estimator can sometimes be difficult, especially in environments with deformable objects. An…

Estimation is a critical component of synchronization in wireless and signal processing systems. There is a rich body of work on estimator derivation, optimization, and statistical characterization from analytic system models which are used…

Intensity-based multistate models provide a useful framework for characterizing disease processes, the introduction of interventions, loss to follow-up, and other complications arising in the conduct of randomized trials studying complex…