4 papers
DB-VIO: Dual-Branch Visual Inertial Odometry with Enhanced Visual-Inertial Representation
Ziyu Wan, Lin Zhao
Visual inertial odometry (VIO) is essential for accurate 6-DoF motion estimation in mobile robotic systems. Recent learning-based VIO methods have shown promising progress, but the…
DiffPF: Differentiable Particle Filtering with Generative Sampling via Conditional Diffusion Models
Ziyu Wan, Lin Zhao
This paper proposes DiffPF, a differentiable particle filter that leverages diffusion models for state estimation in dynamic systems. Unlike conventional differentiable particle fi…
Incremental Policy Iteration for Unknown Nonlinear Systems with Stability and Performance Guarantees
Qingkai Meng, Fenglan Wang, Lin Zhao
This paper proposes a general incremental policy iteration adaptive dynamic programming (ADP) algorithm for model-free robust optimal control of unknown nonlinear systems. The appr…
DnD Filter: Differentiable State Estimation for Dynamic Systems using Diffusion Models
Ziyu Wan, Lin Zhao
This paper proposes the DnD Filter, a differentiable filter that utilizes diffusion models for state estimation of dynamic systems. Unlike conventional differentiable filters, whic…