3 papers
cs.LG2025
Differentiable Adaptive Kalman Filtering via Optimal Transport
Yangguang He, Wenhao Li, Minzhe Li +3
Learning-based filtering has demonstrated strong performance in non-linear dynamical systems, particularly when the statistics of noise are unknown. However, in real-world deployme…
cs.LG2025
TrackDiffuser: Nearly Model-Free Bayesian Filtering with Diffusion Model
Yangguang He, Wenhao Li, Minzhe Li +3
State estimation remains a fundamental challenge across numerous domains, from autonomous driving, aircraft tracking to quantum system control. Although Bayesian filtering has been…
cs.RO2023
Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints
Jinze Liu, Minzhe Li, Jiunn-Kai Huang +1
This paper presents a reactive planning system that allows a Cassie-series bipedal robot to avoid multiple non-overlapping obstacles via a single, continuously differentiable contr…