相关论文: KOALA++: Efficient Kalman-Based Optimization with …

We analyze the effect of quantizing weights and activations of neural networks on their loss and derive a simple regularization scheme that improves robustness against post-training quantization. By training quantization-ready networks, our…

Kalman filtering and smoothing algorithms are used in many areas, including tracking and navigation, medical applications, and financial trend filtering. One of the basic assumptions required to apply the Kalman smoothing framework is that…

The Kalman filter is an established tool for the analysis of dynamic systems with normally distributed noise, and it has been successfully applied in numerous application areas. It provides sequentially calculated estimates of the system…

The Kalman filter is an algorithm for the estimation of hidden variables in dynamical systems under linear Gauss-Markov assumptions with widespread applications across different fields. Recently, its Bayesian interpretation has received a…

This paper studies the distributed state estimation problem for a class of discrete-time stochastic systems with nonlinear uncertain dynamics over time-varying topologies of sensor networks. An extended state vector consisting of the…

Efficient estimation of high-dimensional matrices-including covariance and precision matrices-is a cornerstone of modern multivariate statistics. Most existing studies have focused primarily on the theoretical properties of the estimators…

This paper is concerned with the linear/nonlinear Kalman-like filtering problem under binary sensors. Since innovation represents new information in the sensor measurement and serves to correct the prediction for the Kalman-like filter…

This paper proposes a novel localization framework based on collaborative training or federated learning paradigm, for highly accurate localization of autonomous vehicles. More specifically, we build on the standard approach of KalmanNet, a…

First-order methods for stochastic optimization have undeniable relevance, in part due to their pivotal role in machine learning. Variance reduction for these algorithms has become an important research topic. In contrast to common…

The unscented Kalman filter is an algorithm capable of handling nonlinear scenarios. Uncertainty in process noise covariance may decrease the filter estimation performance or even lead to its divergence. Therefore, it is important to adjust…

Learning new tasks by drawing on prior experience gathered from other (related) tasks is a core property of any intelligent system. Gradient-based meta-learning, especially MAML and its variants, has emerged as a viable solution to…

This work proposes Alada, an adaptive momentum method for stochastic optimization over large-scale matrices. Alada employs a rank-one factorization approach to estimate the second moment of gradients, where factors are updated alternatively…

Kalman filters are widely used for object tracking, where process and measurement noise are usually considered accurately known and constant. However, the exact known and constant assumptions do not always hold in practice. For example,…

Value function learning plays a central role in many state-of-the-art reinforcement-learning algorithms. Many popular algorithms like Q-learning do not optimize any objective function, but are fixed-point iterations of some variant of…

In very recent years more attention has been placed on probing the role of pre-training data in Large Language Models (LLMs) downstream behaviour. Despite the importance, there is no public tool that supports such analysis of pre-training…

Recent years have witnessed a growing interest in tracking algorithms that augment Kalman Filters (KFs) with Deep Neural Networks (DNNs). By transforming KFs into trainable deep learning models, one can learn from data to reliably track a…

Recent selective state space models (SSMs), such as Mamba and Mamba-2, have demonstrated strong performance in sequence modeling owing to input-dependent selection mechanisms. However, these mechanisms lack theoretical grounding and cannot…

Machine learning algorithms, both in their classical and quantum versions, heavily rely on optimization algorithms based on gradients, such as gradient descent and alike. The overall performance is dependent on the appearance of local…

An important part of system modeling is determining parameter values, particularly for biomolecular systems, where direct measurements of individual parameters are typically hard. While Extended Kalman Filters have been used for this…

Gradient-based hyperparameter optimization methods update hyperparameters using hypergradients, gradients of a meta criterion with respect to hyperparameters. Previous research used two distinct update strategies: optimizing hyperparameters…