相关论文: Gaussian Variational Inference with Non-Gaussian F…

We present a Gaussian Variational Inference (GVI) technique that can be applied to large-scale nonlinear batch state estimation problems. The main contribution is to show how to fit both the mean and (inverse) covariance of a Gaussian to…

We present parameter learning in a Gaussian variational inference setting using only noisy measurements (i.e., no groundtruth). This is demonstrated in the context of vehicle trajectory estimation, although the method we propose is general.…

Probabilistic state estimation is essential for robots navigating uncertain environments. Accurately and efficiently managing uncertainty in estimated states is key to robust robotic operation. However, nonlinearities in robotic platforms…

We introduce Group Spike-and-slab Variational Bayes (GSVB), a scalable method for group sparse regression. A fast co-ordinate ascent variational inference (CAVI) algorithm is developed for several common model families including Gaussian,…

With the rapid development of the Internet of Things (IoT), Indoor Positioning System (IPS) has attracted significant interest in academic research. Ultra-Wideband (UWB) is an emerging technology that can be employed for IPS as it offers…

State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband(UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on…

Non-Line-of-Sight (NLoS) propagation condition is a crucial factor affecting the precision of the localization in the Ultra-Wideband (UWB) Indoor Positioning System (IPS). Numerous supervised Machine Learning (ML) approaches have been…

This paper presents a new variable selection approach integrated with Gaussian process (GP) regression. We consider a sparse projection of input variables and a general stationary covariance model that depends on the Euclidean distance…

We consider unbiased estimation of a sparse nonrandom vector corrupted by additive white Gaussian noise. We show that while there are infinitely many unbiased estimators for this problem, none of them has uniformly minimum variance.…

Variational inference (VI) is a widely used framework in Bayesian estimation. For most of the non-Gaussian statistical models, it is infeasible to find an analytically tractable solution to estimate the posterior distributions of the…

In this paper, the problem of state estimation, in the context of both filtering and smoothing, for nonlinear state-space models is considered. Due to the nonlinear nature of the models, the state estimation problem is generally intractable…

We develop unbiased implicit variational inference (UIVI), a method that expands the applicability of variational inference by defining an expressive variational family. UIVI considers an implicit variational distribution obtained in a…

Variational inference techniques based on inducing variables provide an elegant framework for scalable posterior estimation in Gaussian process (GP) models. Besides enabling scalability, one of their main advantages over sparse…

Group factor analysis (GFA) methods have been widely used to infer the common structure and the group-specific signals from multiple related datasets in various fields including systems biology and neuroimaging. To date, most available GFA…

Inference for GP models with non-Gaussian noises is computationally expensive when dealing with large datasets. Many recent inference methods approximate the posterior distribution with a simpler distribution defined on a small number of…

Gaussian Processes (GP) have become popular machine-learning methods for kernel-based learning on datasets with complicated covariance structures. In this paper, we present a novel extension to the GP framework using a contaminated normal…

We propose a new variational inference algorithm for learning in Gaussian Process State-Space Models (GPSSMs). Our algorithm enables learning of unstable and partially observable systems, where previous algorithms fail. Our main algorithmic…

Localization systems based on ultra-wide band (UWB) measurements can have unsatisfactory performance in harsh environments due to the presence of non-line-of-sight (NLOS) errors. Learning-based methods for error mitigation have shown great…

Discovering explicit governing equations of stochastic dynamical systems with both (Gaussian) Brownian noise and (non-Gaussian) L\'evy noise from data is chanllenging due to possible intricate functional forms and the inherent complexity of…

We propose a novel approach to estimating the precision matrix of multivariate Gaussian data that relies on decomposing them into a low-rank and a diagonal component. Such decompositions are very popular for modeling large covariance…