Optimizes particle filtering for non-stationary environments.
problem Tracking and adapting to non-stationary environments in online prediction.
method Formulated an efficient particle filtering method using online mirror descent algorithm.
result Achieves optimal particle efficiency in non-stationary environments.
Differentiable resampling improves particle filter performance.
problem Non-differentiability of traditional resampling in particle filters.
method Introduced a neural network resampler (particle transformer) trained with a likelihood-based loss function.
result Learned resampling outperforms traditional methods on synthetic and real-world tasks.
A new particle filter avoids resampling to improve state estimation in high dimensions.
problem Particle deprivation in high-dimensional state spaces.
method A resampling-free particle filter designed to mitigate particle deprivation.
result The filter offers a near-accurate representation of the posterior distribution in high-dimensional contexts.
Paper uses averaging from many particle filters to approximate posterior predictive distributions.
problem Approximating posterior predictive distributions efficiently and accurately.
method Particle swarm filter algorithm that averages many particle filter approximations.
result Law of large numbers and central limit theorem support the method's effectiveness.
This paper studies when particle filtering is efficient for planning in partially observed systems.
problem The efficiency of particle filtering for planning in partially observed linear dynamical systems.
method Coupling of ideal and approximate sequences to bound particle complexity.
result Polynomially many particles suffice for stable systems to approximate optimal planning.
New particle filter estimates model evidence without bias.
problem Unbiased estimation of marginal likelihood for model comparison.
method Particle filter with rejection control.
result Unbiased estimation of marginal likelihood.
A method makes particle filters differentiable without altering their forward pass.
problem Compatibility issues between particle filters and automatic differentiation.
method Introduces a correction to particle weights using the stop-gradient operator.
result Automatic differentiation produces good estimators for gradients and second-order derivatives.
PF-net combines neural network and particle filter for robot localization.
problem Applying particle filtering to complex systems with rich sensory inputs.
method PF-net integrates system model and particle filter in a neural network.
result PF-net outperforms alternative methods in visual localization tasks.
Framework expands particle filtering to estimate states beyond prior boundaries.
problem Limitations of traditional particle filtering in estimating states outside prior support.
method Diffusion-Enhanced Particle Filtering Framework with adaptive diffusion, entropy-driven regularisation, and kernel-based perturbations.
result Framework significantly improves state estimation accuracy and success rates for out-of-boundary targets.
Paper compares semi-supervised training for differentiable particle filters.
problem Lack of labelled data in real-world applications.
method Compares two semi-supervised training objectives.
result Improved performance in environments with scarce labelled data.
A new algorithm resamples Bernoulli race particle filters using true weights.
problem Handling intractable weights in particle filters.
method Proposes a novel resampling method using true weights with an unbiased estimator.
result Demonstrates lower variance in filtering estimates compared to standard methods.
The ability to track a moving vehicle is of crucial importance in numerous applications. The task has often been approached by the importance sampling technique of particle filters due to its ability to model non-linear and non-Gaussian dynamics, of which a vehicle travelling on a road network is a good example. Partic…
Particle MCMC involves using a particle filter within an MCMC algorithm. For inference of a model which involves an unobserved stochastic process, the standard implementation uses the particle filter to propose new values for the stochastic process, and MCMC moves to propose new values for the parameters. We show how p…
Proposes CE-BASS for robust Kalman filtering with innovative and additive outliers.
problem Robustness to both innovative and additive outliers in Kalman filtering.
method Particle mixture Kalman filter with re-sampling of past states.
result CE-BASS efficiently handles multi-modality and trend changes in hidden state distributions.
A method for optimal Bayesian filtering using progressive particle flow and optimal transport maps.
problem Optimizing Bayesian filtering with deterministic particles to avoid degeneration.
method Progressive flow of particles through a sequence of sub-steps, each using an optimal transport map to replace non-equally weighted particles with equally weighted ones.
result The method avoids particle degeneration and simplifies the filtering process by not requiring inversions or monotonicity constraints.
Deep density methods improve filtering in high-dimensional systems.
problem Nonlinear filtering in high-dimensional systems.
method Two deep density methods based on Feynman-Kac formulas and neural networks.
result Logarithmic deep backward stochastic differential equation filter outperforms classical methods in high dimensions.
Paper develops a particle filter for rapid model parameter adaptation and change detection.
problem Rapidly adapting to changes in model parameters and distinguishing between regime shifts and stochastic volatility.
method Incorporates genetic algorithm elements into a particle filter for accelerated adaptation and change detection.
result The filter adapts to regime shifts extremely rapidly and provides a clear heuristic for distinguishing between regime shifts and stochastic volatility.
PF-RNNs use particle filtering to model uncertainty in RNNs for better sequential data prediction.
problem Highly variable and noisy sequential data.
method PF-RNNs maintain a latent state distribution as a set of particles, updating with Bayes rule.
result PF-RNNs outperform standard RNNs on various sequence prediction tasks.
The decentralized particle filter (DPF) was proposed recently to increase the level of parallelism of particle filtering. Given a decomposition of the state space into two nested sets of variables, the DPF uses a particle filter to sample the first set and then conditions on this sample to generate a set of samples for…
Sequential Monte Carlo techniques are useful for state estimation in non-linear, non-Gaussian dynamic models. These methods allow us to approximate the joint posterior distribution using sequential importance sampling. In this framework, the dimension of the target distribution grows with each time step, thus it is nec…
The paper develops a computational method for efficient online filtering of diffusion processes.
problem Online filtering of discretely observed nonlinear diffusion processes.
method The approach involves Doob's h-transforms approximated by solving backward Kolmogorov equations using nonlinear Feynman-Kac formulas and neural networks. result The proposed method can be orders of magnitude more efficient than state-of-the-art particle filters.
A new variational method for SSMs improves inference efficiency.
problem Hard variational inference for state space models.
method Proposes variational marginal particle filter (VMPF) based on Rao-Blackwellization.
result VMPF provides tighter variational bounds and sometimes benefits from unbiased reparameterization.
Improved volatility estimation using SV-PF-RNN.
problem Estimating true volatility in the presence of market noise.
method SV-PF-RNN: hybrid neural network and particle filter architecture.
result SV-PF-RNN outperforms basic particle filter.
Develops an inverse particle filter for cognitive systems.
problem Tracking cognitive adversaries in counter-adversarial applications.
method Global filtering approach using Monte Carlo methods and differentiable I-PF.
result Demonstrates convergence to optimal inverse filter and improved estimation performance.
Hybrid approach combines transformer and Bayesian filtering for robust multiple particle tracking.
problem Challenges in tracking multiple particles in noisy scenes due to combinatorial explosion of hypotheses.
method Attention-Bayesian hybrid framework using transformer for association and Bayesian filtering for pruning hypotheses.
result Improved tracking accuracy and robustness against spurious detections.
Enhances particle filters with neural augmentation for multi-sub-state tracking.
problem Particle filters struggle with complex or approximated models and low latency requirements.
method Learning Flock (LF) uses a neural network to correct particle weights based on sub-particle relationships.
result LF improves performance, robustness, and latency in radar multi-target tracking.
A new filter efficiently samples high-dimensional state spaces using mappings embedded in a reproducing kernel Hilbert space.
problem Efficiently sampling high-dimensional state spaces with limited particles.
method Variational mapping particle filter using gradient flow of mappings embedded in a reproducing kernel Hilbert space.
result Quick convergence and stable performance in various chaotic and epidemic models.
Paper proposes an end-to-end learning method for state estimation in robotics.
problem Lack of annotated data for optimising dynamic and measurement models in particle filters.
method End-to-end learning objective based on maximising a pseudo-likelihood function.
result Improves state estimation when large portions of true states are unknown.
DPFRL uses particle filters for decision making with complex visual observations.
problem Decision making with partial complex visual observations.
method Discriminative Particle Filter Reinforcement Learning (DPFRL) with a differentiable particle filter in the neural network policy.
result DPFRL outperforms state-of-the-art POMDP RL models in complex visual observation tasks.
NBF combines deep learning with classical filtering for better belief tracking.
problem Maintaining distributions over hidden states in partially observable systems.
method Trains neural networks to map beliefs to fixed-length vectors, updating them with incoming observations and dynamics.
result NBF efficiently tracks shifting, multimodal beliefs without particle impoverishment.
Differentiable PF via entropy-regularized OT for better inference.
problem Non-differentiability of traditional PF resampling methods.
method Entropy-regularized optimal transport for differentiable resampling.
result Convergent differentiable PF method with improved gradient estimates.
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.
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.
A new particle filter uses diffusion models to improve state estimation from noisy data.
problem Sequentially estimating the state of a dynamical system from noisy and incomplete observations.
method Uses a diffusion model to simulate and predict system dynamics, incorporating noisy observations to refine predicted states.
result An unbiased particle filtering method that rigorously fuses observational data with diffusion model simulations.
A new method combines MLMC and particle filters for more efficient option pricing.
problem Efficiently pricing options with reduced computational effort.
method Multilevel Particle Filter (MLPF) combining MLMC and particle filters.
result MLPF demonstrates computational savings over Particle Filter (PF) for option pricing.
A new ensemble filter uses transport maps and MMD optimization for high-dimensional data assimilation.
problem High-dimensional data assimilation challenges in ensemble filtering.
method Optimized Maximum Mean Discrepancy (MMD) for transport map construction.
result Significant improvement in robustness and posterior approximation.
Improved state estimation in high-dimensional models using Zig-Zag Sampler.
problem Weight degeneracy in particle filtering methods for high-dimensional state space models.
method Discrete Zig-Zag Sampler applied within the Composite MH Kernel of SMCMC framework.
result Improves estimation accuracy and increases acceptance ratio in high-dimensional state estimation.
SVO improves particle diversity and variational bounds in filtering SMC.
problem Improving variational bounds in particle filtering with limited samples.
method Introduces Particle Smoothing Variational Objectives (SVO) for smoothed approximate posterior through subsampling.
result SVO outperforms filtered objectives with fewer Monte Carlo samples on nonlinear systems.
DPFs learn state estimation with algorithmic priors, improving accuracy and generalization.
problem State estimation in complex systems.
method Differentiable particle filters with learnable models.
result End-to-end learning improves state estimation performance by ~80%.
New method improves phylogenetic model inference by 30x.
problem Improving phylogenetic model inference for birth-death processes.
method Combines alive particle filter with delayed sampling.
result Significant improvement in effective sample size and acceptance rate.
New methods learn sampling distributions for particle filters without supervision.
problem Designing accurate sampling distributions for nonlinear dynamical systems.
method Proposed four unsupervised learning methods for multivariate Gaussian and nonparametric distributions.
result Learned sampling distributions outperform designed ones in accuracy.
Improved particle filters for estimating model parameters using differentiable resampling.
problem Inability to differentiate sampling and resampling steps in particle filters.
method Extended reparameterisation trick to include stochastic input, enabling differentiation. Used p-MCMC and NUTS for parameter estimation.
result NUTS improves mixing of Markov chain and produces more accurate results in less time.
Appropriately designing the proposal kernel of particle filters is an issue of significant importance, since a bad choice may lead to deterioration of the particle sample and, consequently, waste of computational power. In this paper we introduce a novel algorithm adaptively approximating the so-called optimal proposal…
A new method for state space partitioning in block particle filtering reduces bias and variance.
problem Overcoming the curse of dimensionality in non-linear, non-Gaussian state space estimation.
method Formulates state space partitioning as a clustering problem and uses spectral clustering with constraints.
result The proposed method effectively groups correlated state variables into smaller blocks, reducing bias and variance.
EnKO combines VI and EnKF for efficient latent dynamics inference.
problem Particle degeneracy and biased gradient estimators in SMC-based methods.
method EnKO: hybrid of VI and EnKF.
result EnKO outperforms SMC-based methods in predictive ability and particle efficiency.
In this article, we present the elitist particle filter based on evolutionary strategies (EPFES) as an efficient approach for nonlinear system identification. The EPFES is derived from the frequently-employed state-space model, where the relevant information of the nonlinear system is captured by an unknown state vecto…
This paper presents a fast Bayesian filtering technique for state estimation.
problem Bottleneck in Bayesian inference for state estimation from noisy sensor data.
method Processor-native uncertainty tracking for uncertainty propagation and inference.
result Deterministic approximate filtering with up to 805x speedup and competitive accuracy.
Paper formulates EnKF as optimal transport problem for unique control law.
problem Unique control law for EnKF algorithms.
method Formulated as optimal transportation problem, derived explicit control law.
result Mean squared error converges to zero with finite particles.