相关论文: Learning-based Attitude Estimation with Noisy Meas…

Cubature Kalman Filter (CKF) has good performance when handling nonlinear dynamic state estimations. However, it cannot work well in non-Gaussian noise and bad data environment due to the lack of auto-adaptive ability to measure noise…

The optimal predictor for a linear dynamical system (with hidden state and Gaussian noise) takes the form of an autoregressive linear filter, namely the Kalman filter. However, a fundamental problem in reinforcement learning and control…

Model-free deep reinforcement learning (RL) algorithms have achieved tremendous success on a range of challenging tasks. However, safety concerns remain when these methods are deployed on real-world applications, necessitating risk-aware…

Generative classifiers are constructed on the basis of a joint probability distribution and are typically learned using closed-form procedures that rely on data statistics and maximize scores related to data fitting. However, these scores…

This paper illustrates the way for estimating position and orientation of a vehicle with an Extended Kalman Filter (EKF). For this purpose a non-linear model is designed and an adaptive calculation of measurement noise covariance matrix is…

This paper presents a generative approach to speech enhancement based on a recurrent variational autoencoder (RVAE). The deep generative speech model is trained using clean speech signals only, and it is combined with a nonnegative matrix…

This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in position and Rodriguez vector estimates…

State-of-the-art reinforcement learning algorithms mostly rely on being allowed to directly interact with their environment to collect millions of observations. This makes it hard to transfer their success to industrial control problems,…

This study applied representation learning algorithms to satellite images and evaluated the learned latent spaces with classifications of various weather events. The algorithms investigated include the classical linear transformation, i.e.,…

The traditional GNSS-aided inertial navigation system (INS) usually exploits the extended Kalman filter (EKF) for state estimation, and the initial attitude accuracy is key to the filtering performance. To spare the reliance on the initial…

Traditional Reinforcement Learning (RL) policies are typically implemented with fixed control rates, often disregarding the impact of control rate selection. This can lead to inefficiencies as the optimal control rate varies with task…

Consider an auto-regressive model that produces outputs x (e.g., answers to questions, molecules) each of which can be summarized by an attribute vector y (e.g., helpfulness vs. harmlessness, or bio-availability vs. lipophilicity). An…

The immersion and the interaction are the important features of the driving simulator. To improve these characteristics, this paper proposes a low-cost and mark-less driver head tracking framework based on the head pose estimation model,…

In tomographic imaging, anatomical structures are reconstructed by applying a pseudo-inverse forward model to acquired signals. Geometric information within this process is usually depending on the system setting only, i. e., the scanner…

Variational auto-encoders (VAEs) provide an attractive solution to image generation problem. However, they tend to produce blurred and over-smoothed images due to their dependence on pixel-wise reconstruction loss. This paper introduces a…

We consider the inverse reinforcement learning problem, that is, the problem of learning from, and then predicting or mimicking a controller based on state/action data. We propose a statistical model for such data, derived from the…

State estimation is crucial for legged robots as it directly affects control performance and locomotion stability. In this paper, we propose an Adaptive Invariant Extended Kalman Filter to improve proprioceptive state estimation for legged…

We study reinforcement learning (RL) problems in which agents observe the reward or transition realizations at their current state before deciding which action to take. Such observations are available in many applications, including…

Safety is essential for reinforcement learning (RL) applied in real-world situations. Chance constraints are suitable to represent the safety requirements in stochastic systems. Previous chance-constrained RL methods usually have a low…

Multi-agent collaboration has emerged as a powerful paradigm for enhancing the reasoning capabilities of large language models, yet it suffers from interaction-level ambiguity that blurs generation, critique, and revision, making credit…