21 citations · 41 across the 14 of their papers we have counts for
4 papers · 1 filter
WRAP: Wasserstein-Robust Adaptive Plug-in for Robot Localization
Minhyuk Jang, Astghik Hakobyan, Jungjin Lee +2
Robotic localization under changing sensing conditions can suffer from biased errors and miscalibrated covariances. We present WRAP, an adapter-agnostic Wasserstein-robust plug-in…
Distributionally Robust Planning with Adaptive Control
Astghik Hakobyan, Amaras Nazarians, Aditya Gahlawat +2
Safe operation of autonomous systems requires robustness to both model uncertainty and uncertainty in the environment. We propose DRP-AC, a hierarchical framework fo…
Residual-Aware Distributionally Robust EKF: Absorbing Linearization Mismatch via Wasserstein Ambiguity
Minhyuk Jang, Jungjin Lee, Astghik Hakobyan +2
The extended Kalman filter (EKF) is a cornerstone of nonlinear state estimation, yet its performance is fundamentally limited by noise-model mismatch and linearization errors. We d…
Distributionally Robust Kalman Filter
Minhyuk Jang, Astghik Hakobyan, Insoon Yang
We study state estimation for discrete-time linear stochastic systems under distributional ambiguity in the initial state, process noise, and measurement noise. We propose a noise-…