相关论文: Differentiable Adaptive Kalman Filtering via Optim…

We cast Amari's natural gradient in statistical learning as a specific case of Kalman filtering. Namely, applying an extended Kalman filter to estimate a fixed unknown parameter of a probabilistic model from a series of observations, is…

Cooperative perception significantly enhances scene understanding by integrating complementary information from diverse agents. However, existing research often overlooks critical challenges inherent in real-world multi-source data…

Optimization is often cast as a deterministic problem, where the solution is found through some iterative procedure such as gradient descent. However, when training neural networks the loss function changes over (iteration) time due to the…

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…

The estimation of relative motion between spacecraft increasingly relies on feature-matching computer vision, which feeds data into a recursive filtering algorithm. Kalman filters, although efficient in noise compensation, demand extensive…

A recently developed data-driven Kalman filter requires offline measurement of the process disturbance; a requirement that is often unmet for many practical applications. We propose a solution that parametrizes the Kalman filter exclusively…

Most Reinforcement Learning (RL) methods are traditionally studied in an active learning setting, where agents directly interact with their environments, observe action outcomes, and learn through trial and error. However, allowing…

Out-of-distribution (OOD) data poses serious challenges in deployed machine learning models as even subtle changes could incur significant performance drops. Being able to estimate a model's performance on test data is important in practice…

Facilitating online learning in spiking neural networks (SNNs) is a key step in developing event-based models that can adapt to changing environments and learn from continuous data streams in real-time. Although forward-mode differentiation…

The FlowNet demonstrated that optical flow estimation can be cast as a learning problem. However, the state of the art with regard to the quality of the flow has still been defined by traditional methods. Particularly on small displacements…

In the backbone of large-scale networks, origin-to-destination (OD) traffic flows experience abrupt unusual changes known as traffic volume anomalies, which can result in congestion and limit the extent to which end-user quality of service…

This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…

Online Continual Learning (OCL) models continuously adapt to nonstationary data streams, usually without task information. These settings are complex and many traditional CL methods fail, while online methods (mainly replay-based) suffer…

Reinforcement learning for large language models suffers from high-variance token-level importance sampling (IS) ratios, which would destabilize policy optimization at scale. To improve stability, recent methods typically use a fixed…

Analyzing the ocean acoustic environment is a tricky task. Background noise and variable channel transmission environment make it complicated to implement accurate ship-radiated noise recognition. Existing recognition systems are weak in…

In many applications of state estimation, the process noise is colored; this case is addressed by applying the standard Kalman filter (KF) to dynamics that are augmented with the coloring dynamics. The present paper considers the case where…

This paper is on learning the Kalman gain by policy optimization method. Firstly, we reformulate the finite-horizon Kalman filter as a policy optimization problem of the dual system. Secondly, we obtain the global linear convergence of…

The method of using neural networks (NNs) for turbulent transport prediction in a simplified model of tokamak plasmas is explored. The NNs are trained on a database obtained via test-particle simulations of a transport model in the…

Inverse optimization is a powerful paradigm for learning preferences and restrictions that explain the behavior of a decision maker, based on a set of external signal and the corresponding decision pairs. However, most inverse optimization…

Machine learning models often encounter distribution shifts when deployed in the real world. In this paper, we focus on adaptation to label distribution shift in the online setting, where the test-time label distribution is continually…