4 papers
Max-Entropy Moment Filtering for Stochastic Hybrid Systems
Kaito Iwasaki, Tejaswi K. C., Anthony Bloch +2
Stochastic hybrid systems combine continuous-time stochastic dynamics with discrete reset events, producing intrinsically non-Gaussian and often multimodal uncertainty. A consisten…
The Score Kalman Filter
Kaito Iwasaki, Anthony Bloch, Taeyoung Lee +1
A central obstacle in nonlinear Bayesian filtering is representing the belief distribution. Moment-based filters address this by propagating polynomial moments and reconstructing a…
Transfer Operators for Stochastic Hybrid Systems on Manifolds with Guard-Induced Resets
Tejaswi K. C., William A. Clark, Taeyoung Lee
This paper develops a transfer operator framework for stochastic hybrid systems with guard-induced resets, encompassing both the Koopman and Frobenius--Perron operators. Exploiting…
Equivariant Reinforcement Learning Frameworks for Quadrotor Low-Level Control
Beomyeol Yu, Taeyoung Lee
Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unst…