相关论文: Kalman-filtering using local interactions

There is a growing interest in using Kalman-filter models in brain modelling. In turn, it is of considerable importance to make Kalman-filters amenable for reinforcement learning. In the usual formulation of optimal control it is computed…

The Kalman filter is a fundamental filtering algorithm that fuses noisy sensory data, a previous state estimate, and a dynamics model to produce a principled estimate of the current state. It assumes, and is optimal for, linear models and…

Prediction error and maximum likelihood methods are powerful tools for identifying linear dynamical systems and, in particular, enable the joint estimation of model parameters and the Kalman filter used for state estimation. A key…

This paper presents an adaptive Kalman filter for a linear dynamic system perturbed by an additive disturbance. The objective is to estimate both of the state and the unknown disturbance concurrently, while learning the disturbance as a…

Filtering is a widely used methodology for the incorporation of observed data into time-evolving systems. It provides an online approach to state estimation inverse problems when data is acquired sequentially. The Kalman filter plays a…

Recent studies in neuroscience suggest that Successor Representation (SR)-based models provide adaptation to changes in the goal locations or reward function faster than model-free algorithms, together with lower computational cost compared…

We propose a new algorithm for an adaptive optics system control law, based on the Linear Quadratic Gaussian approach and a Kalman Filter adaptation with localizations. It allows to handle non-stationary behaviors, to obtain performance…

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…

The well-known Kalman filters model dynamical systems by relying on state-space representations with the next state updated, and its uncertainty controlled, by fresh information associated with newly observed system outputs. This paper…

We consider the problem of online prediction for an unknown, non-explosive linear stochastic system. With a known system model, the optimal predictor is the celebrated Kalman filter. In the case of unknown systems, existing approaches based…

The Kalman filter (KF) is used in a variety of applications for computing the posterior distribution of latent states in a state space model. The model requires a linear relationship between states and observations. Extensions to the Kalman…

We introduce a novel nonlinear Kalman filter that utilizes reparametrization gradients. The widely used parametric approximation is based on a jointly Gaussian assumption of the state-space model, which is in turn equivalent to minimizing…

State estimation that combines observational data with mathematical models is central to many applications and is commonly addressed through filtering methods, such as ensemble Kalman filters. In this article, we examine the signal-tracking…

Convolutional beamformers integrate the multichannel linear prediction model into beamformers, which provide good performance and optimality for joint dereverberation and noise reduction tasks. While longer filters are required to model…

State estimation in stochastic dynamical systems with noisy measurements is a challenge. While the Kalman filter is optimal for linear systems with independent Gaussian white noise, real-world conditions often deviate from these…

This paper aims at the algorithmic/theoretical core of reinforcement learning (RL) by introducing the novel class of proximal Bellman mappings. These mappings are defined in reproducing kernel Hilbert spaces (RKHSs), to benefit from the…

This paper investigates the use of extended Kalman filtering to train recurrent neural networks with rather general convex loss functions and regularization terms on the network parameters, including $\ell_1$-regularization. We show that…

Kalman Filters are one of the most influential models of time-varying phenomena. They admit an intuitive probabilistic interpretation, have a simple functional form, and enjoy widespread adoption in a variety of disciplines. Motivated by…

In the previous paper an adaptive filtering based on a reference recursive recipe was developed and tested on a simulated dynamics of a spring, mass, and damper with a weak nonlinear spring. In this paper the above recipe is applied to a…

For many nonlinear Bayesian state estimation problems, the posterior recursion is not analytically tractable, leading to algorithms that are influenced by numerical approximation errors. These algorithms depend on parameters that affect the…