4 papers · 1 filter
One Filters All: A Generalist Filter for State Estimation
Shiqi Liu, Wenhan Cao, Chang Liu +3
Estimating hidden states in dynamical systems, also known as optimal filtering, is a long-standing problem in various fields of science and engineering. In this paper, we introduce…
Algorithm Design and Comparative Test of Natural Gradient Gaussian Approximation Filter
Wenhan Cao, Tianyi Zhang, Shengbo Eben Li
Popular Bayes filters typically rely on linearization techniques such as Taylor series expansion and stochastic linear regression to use the structure of standard Kalman filter. Th…
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…