5 papers · 1 filter
Natural Gradient Bayesian Filtering: Geometry-Aware Filter for Dynamical Systems
Chang Liu, Wenhan Cao, Zeju Sun +8
Bayesian filtering is a cornerstone of state estimation in complex systems such as aerospace systems, yet exact solutions are available only for linear Gaussian models. In practice…
Natural Gradient Gaussian Approximation Filter on Lie Groups for Robot State Estimation
Tianyi Zhang, Wenhan Cao, Chang Liu +2
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenge…
Distributional Soft Actor-Critic with Harmonic Gradient for Safe and Efficient Autonomous Driving in Multi-lane Scenarios
Feihong Zhang, Guojian Zhan, Bin Shuai +3
Reinforcement learning (RL), known for its self-evolution capability, offers a promising approach to training high-level autonomous driving systems. However, handling constraints r…
NANO-SLAM : Natural Gradient Gaussian Approximation for Vehicle SLAM
Tianyi Zhang, Wenhan Cao, Chang Liu +3
Accurate localization is a challenging task for autonomous vehicles, particularly in GPS-denied environments such as urban canyons and tunnels. In these scenarios, simultaneous loc…
Robust State Estimation for Legged Robots with Dual Beta Kalman Filter
Tianyi Zhang, Wenhan Cao, Chang Liu +3
Existing state estimation algorithms for legged robots that rely on proprioceptive sensors often overlook foot slippage and leg deformation in the physical world, leading to large…