The Kalman filter is extensively used for state estimation for linear systems under Gaussian noise. When non-Gaussian Lévy noise is present, the conventional Kalman filter may fail to be effective due to the fact that the non-Gaussian Lévy noise may have infinite variance. A modified Kalman filter for linear systems wi…
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48 results for “Gaussian filtering”
New sampling-based approach for filtering problems using multiplicative Gaussian functions.
problem Approximate inference in filtering problems.
method Approximates distribution with a weighted sum of continuous functions using sampling for multiplications.
result Preliminary experiments show potential of the new method compared to particle filters.
Improved Kalman filter for non-linear, non-Gaussian data.
problem Estimating hidden variables with non-linear, non-Gaussian observations.
method Reproduces and extends Burkhart et al.'s discriminative Kalman filter.
result Enhanced filter performance for complex observation models.
This work preserves linear invariants in ensemble filters for non-Gaussian data assimilation.
problem Maintaining critical invariants like mass, stoichiometric balance, and charge in non-Gaussian data assimilation.
method Introducing a novel class of nonlinear ensemble filters using measure transport theory.
result Recovery of a constrained Kalman filter for Gaussian settings and combination with regularization techniques.
Paper proposes a new Taylor moment expansion for non-linear Gaussian filtering and smoothing.
problem Non-linear Gaussian filtering and smoothing in continuous-discrete state-space models.
method Taylor moment expansion (TME) for moment functions directly and in time variable.
result Significantly outperforms state-of-the-art methods in terms of estimation accuracy and numerical stability.
We present a general probabilistic perspective on Gaussian filtering and smoothing. This allows us to show that common approaches to Gaussian filtering/smoothing can be distinguished solely by their methods of computing/approximating the means and covariances of joint probabilities. This implies that novel filters and …
A new method for Gaussian filtering using gradient flows and Wasserstein metrics.
problem Approximating Gaussian and mixture-of-Gaussians filtering for complex systems.
method Variational approximation via gradient-flow representation on Wasserstein metric space.
result Competitive performance in posterior representation and parameter estimation for systems with multiplicative noise and multi-modal distributions.
In this manuscript we introduce numerical Gaussian process Kalman filtering (GPKF). Numerical Gaussian processes have recently been developed to simulate spatiotemporal models. The contribution of this paper is to embed numerical Gaussian processes into the recursive Kalman filter equations. This embedding enables us t…
Recursive KalmanNet combines neural networks with Kalman filters for precise state estimation.
problem State estimation in systems with noisy measurements and non-Gaussian noise.
method Recursive KalmanNet uses a recurrent neural network to estimate states with consistent error covariance, optimizing for Gaussian negative log-likelihood.
result Recursive KalmanNet outperforms conventional Kalman filters and deep learning-based estimators in non-Gaussian noise conditions.
Filtering is a general name for inferring the states of a dynamical system given observations. The most common filtering approach is Gaussian Filtering (GF) where the distribution of the inferred states is a Gaussian whose mean is an affine function of the observations. There are two restrictions in this model: Gaussia…
Filtered conformal ellipsoids for graph-native time series
problem Joint prediction sets for multivariate time series
method Filtered conformal ellipsoids
result Sharper at-target ellipsoids than static-covariance and non-filter baselines
This work studies the problem of stochastic dynamic filtering and state propagation with complex beliefs. The main contribution is GP-SUM, a filtering algorithm tailored to dynamic systems and observation models expressed as Gaussian Processes (GP), and to states represented as a weighted sum of Gaussians. The key attr…
A new flow-based Bayesian filter tackles high-dimensional nonlinear stochastic systems.
problem Bayesian filtering for high-dimensional nonlinear systems is challenging due to non-Gaussian distributions and computational limitations.
method Integrates normalizing flows to construct a latent linear state-space model with efficient density estimation and sampling.
result Demonstrates superior accuracy and efficiency in numerical experiments.
Ens-CGP synthesizes ensemble-based inference with Gaussian processes.
problem Ensemble-based inference and Gaussian process modeling.
method Formulates Ens-CGP as a conditional Gaussian process for ensemble moments.
result Ens-CGP provides a unified probabilistic foundation for Kalman-type methods.
Transformers can solve complex filtering problems for non-Gaussian signals.
problem Non-linear and non-Markovian filtering problems for conditionally Gaussian signals.
method Continuous-time transformer models called filterformers.
result Filterformers can approximate the conditional law of non-Markovian and conditionally Gaussian signal processes.
New filters for non-linear systems achieve closed-form solutions.
problem Intractability of Bayesian filtering for non-linear systems.
method Gaussian PSD Models for efficient closed-form filtering.
result Closed-form filtering with strong theoretical guarantees and adaptive error.
Many sensors, such as range, sonar, radar, GPS and visual devices, produce measurements which are contaminated by outliers. This problem can be addressed by using fat-tailed sensor models, which account for the possibility of outliers. Unfortunately, all estimation algorithms belonging to the family of Gaussian filters…
EnEMF uses Epanechnikov kernel for high-dimensional filtering, improving accuracy and robustness.
problem Suboptimal Gaussian mixture kernel density estimates in high-dimensional settings.
method Ensemble Epanechnikov mixture filter (EnEMF) using optimal Epanechnikov kernel.
result EnEMF reduces error per particle on high-dimensional systems like Lorenz '96.
Many nonlinear extensions of the Kalman filter, e.g., the extended and the unscented Kalman filter, reduce the state densities to Gaussian densities. This approximation gives sufficient results in many cases. However, this filters only estimate states that are correlated with the observation. Therefore, sequential esti…
Incremental Nonlinear System Identification and Adaptive Particle Filtering Using Gaussian Processstat.ML
An incremental/online state dynamic learning method is proposed for identification of the nonlinear Gaussian state space models. The method embeds the stochastic variational sparse Gaussian process as the probabilistic state dynamic model inside a particle filter framework. Model updating is done at measurement sample …
A new method improves Bayesian filtering in nonlinear systems.
problem Bayesian filtering in nonlinear dynamical systems with non-Gaussian posteriors.
method Transport maps with block-triangular structure and gradient flows for MMD minimization.
result Accurate approximation of non-Gaussian posteriors without particle collapse.
ATPF combines PF and EnKF for better inference in complex systems.
problem Weight degeneracy in PF and approximation errors in EnKF.
method Adversarial learning to improve posterior matching and incorporate kernel methods for optimization.
result ATPF provides theoretical guarantees and practical advantages over PF and EnKF.
Constrained adaptive filtering algorithms inculding constrained least mean square (CLMS), constrained affine projection (CAP) and constrained recursive least squares (CRLS) have been extensively studied in many applications. Most existing constrained adaptive filtering algorithms are developed under mean square error (…
Develops state-space deep Gaussian processes for irregular signals.
problem Solving deep Gaussian process regression problems for irregular signals/functions.
method Represent DGPs as SDEs, solve using state-space filtering and smoothing methods.
result Rich class of priors compatible with irregular signals/functions.
A new model combines Gaussian processes with collaborative filtering for uncertainty-aware recommendations.
problem Uncertainty in recommendation systems.
method Combining Gaussian process multi-output models with collaborative filtering.
result Generates uncertainty estimates for predictions.
The present paper proposes generalized Gaussian kernel adaptive filtering, where the kernel parameters are adaptive and data-driven. The Gaussian kernel is parametrized by a center vector and a symmetric positive definite (SPD) precision matrix, which is regarded as a generalization of the scalar width parameter. These…
A Bayesian filtering algorithm is developed for a class of state-space systems that can be modelled via Gaussian mixtures. In general, the exact solution to this filtering problem involves an exponential growth in the number of mixture terms and this is handled here by utilising a Gaussian mixture reduction step after …
Real-world measurement noise in applications like robotics is often correlated in time, but we typically assume i.i.d. Gaussian noise for filtering. We propose general Gaussian Processes as a non-parametric model for correlated measurement noise that is flexible enough to accurately reflect correlation in time, yet sim…
We formulate probabilistic numerical approximations to solutions of ordinary differential equations (ODEs) as problems in Gaussian process (GP) regression with non-linear measurement functions. This is achieved by defining the measurement sequence to consist of the observations of the difference between the derivative …
Shrinkage and spectral filtering of correlation matrices: a comparison via the Kullback-Leibler distancephysics.data-an
The problem of filtering information from large correlation matrices is of great importance in many applications. We have recently proposed the use of the Kullback-Leibler distance to measure the performance of filtering algorithms in recovering the underlying correlation matrix when the variables are described by a mu…
The unscented transformation (UT) is an efficient method to solve the state estimation problem for a non-linear dynamic system, utilizing a derivative-free higher-order approximation by approximating a Gaussian distribution rather than approximating a non-linear function. Applying the UT to a Kalman filter type estimat…
Given a stationary state-space model that relates a sequence of hidden states and corresponding measurements or observations, Bayesian filtering provides a principled statistical framework for inferring the posterior distribution of the current state given all measurements up to the present time. For example, the Apoll…
CG-EnKF and NS-EnKF outperform deep learning-based SF in data assimilation.
problem Data assimilation with non-linear perturbations.
method Two non-linear extensions of EnKF: CG-EnKF and NS-EnKF.
result CG-EnKF and NS-EnKF outperform SF in high-dimensional multiscale data assimilation.
We consider filtering in high-dimensional non-Gaussian state-space models with intractable transition kernels, nonlinear and possibly chaotic dynamics, and sparse observations in space and time. We propose a novel filtering methodology that harnesses transportation of measures, convex optimization, and ideas from proba…
We propose a principled algorithm for robust Bayesian filtering and smoothing in nonlinear stochastic dynamic systems when both the transition function and the measurement function are described by non-parametric Gaussian process (GP) models. GPs are gaining increasing importance in signal processing, machine learning,…
We propose a new heavy-tailed distribution --- Gaussian-Chain (GC) distribution, which is inspirited by the hierarchical structures prevailing in social organizations. We determine the mean, variance and kurtosis of the Gaussian-Chain distribution to show its heavy-tailed property, and compute the tail distribution tab…
Gaussian process regression is a machine learning approach which has been shown its power for estimation of unknown functions. However, Gaussian processes suffer from high computational complexity, as in a basic form they scale cubically with the number of observations. Several approaches based on inducing points were …
Improving Bayesian filtering with strictly proper scoring rules
problem Bayesian filtering of partially and noisily observed dynamical systems
method Proper scoring ensemble filter (PSEF)
result Accurate approximation of challenging filtering distributions
New algorithm for collective Gaussian hidden Markov models inference.
problem Inference of collective Gaussian hidden Markov models from aggregate data.
method Collective Gaussian forward-backward algorithm, extending Sinkhorn belief propagation.
result Convergence guarantee and applicability to single individual Kalman filter.
Investigates a Kyle model with imperfect information and risk aversion.
problem Tackles a Kyle model with imperfect information and risk-averse informed traders.
method Solves an optimal transport problem and a filtering problem under specific measures.
result Constructs an equilibrium for the Gaussian Kyle model with imperfect information and risk aversion.
This paper refines the Gaussian Sinkhorn algorithm for general multivariate models.
problem Finite-dimensional solutions for general Gaussian multivariate models.
method Recursive formulation of the Sinkhorn algorithm for Gaussian models, including closed form expressions of entropic transport maps and Schrödinger bridges.
result Refined convergence analysis of Gaussian Sinkhorn algorithms.
The paper develops ML algorithms for calibrating credit rating transition models for high and low default portfolios.
problem Calibration of credit rating transition models for high and low default portfolios.
method Developed Maximum likelihood (ML) algorithms, including Laplace approximation for high-default portfolios and particle filter with Gaussian process regression for low-default portfolios.
result Both algorithms produce accurate approximations of the likelihood function and ML estimates of model parameters.
Bayesian filtering approach identifies nonlinear restoring forces in dynamic systems.
problem Identification of nonlinear dynamic systems in engineering.
method Modeling the nonlinear restoring force as a Gaussian process, converting it to a state-space model, and inferring internal states and the nonlinear restoring force through filtering and smoothing.
result The approach effectively identifies nonlinear restoring forces in both simulated and experimental datasets.
In recent years, correntropy has been seccessfully applied to robust adaptive filtering to eliminate adverse effects of impulsive noises or outliers. Correntropy is generally defined as the expectation of a Gaussian kernel between two random variables. This definition is reasonable when the error between the two random…
Safety filter for unknown discrete-time systems with learned models and noise covariance.
problem Ensuring safety for unknown discrete-time linear systems with Gaussian noise.
method Develops a learning-based safety filter using empirical model and noise covariance, optimizing control actions to stay within safety constraints.
result Minimally modifies nominal control actions to ensure safety with high probability, tightening constraints as more data is collected.
Paper uses optimal transport for Bayesian filtering, deriving new EnKF and FPF formulations.
problem Bayesian filtering for nonlinear systems with non-Gaussian observations.
method Optimal transport theory applied to Bayes' law, constructing Brenier maps.
result New variational formulations of EnKF and FPF for non-Gaussian settings.
Proposes a Gaussian process for graph signals using adaptive spectral kernels.
problem Predicting signals on graph nodes with various structures.
method Spectral kernel learning approach that incorporates a polynomial function in the graph spectral domain.
result The model accurately recovers ground truth spectral filters and outperforms in real-world graph data.
Extends DRFGP to make GPs more robust and adaptive for dynamic, noisy data.
problem Limited scalability, static targets, and brittleness to outliers in GPs.
method Introduces robust-filtering update and dynamic adaptation mechanism.
result Enhanced stability and accuracy in modeling dynamic, noisy data.