18 Apr

### Neuroscience inspired AL

This paper reviews several implementations in artificial intelligence that have neuroscience correspondence. The most robotics-related one is the neuro-replay. In RL, especially navigation related tasks, the performance will be better if the agent stores a certain amount of raw data. The data will b...

05 Mar

### State representation learning

I found a paper from DeepMind last year on state representation. This paper integrates state representatin learning with deep reinforcement learning. The authors try differnt loss functions related to state representation, and determine which combination of loss function gives the better performance...

06 Feb

### Survey on EM SLAM

Classic approaches to tackle simultaneously localization and mapping (SLAM) are based on estimation problem. That is, robots try to estimate it position as well as landmark concurrently where both positions are modeled as random variables.A series of works formulate SLAM differently by modeling t...

29 Jan

### Summary of the 1st SLAM study group

We studied the paper “A solution to the simultaneous localisation and mapping (SLAM) problem” together this afternoon, and I found out several serious concern about this seminal paper, who has more than 3000 citation. The paper gives 3 main theorems for the extended Kalman filter (EKF) formulat...

23 Jan

### New paper on localization submitted

We just submitted our new paper, Localization Algorithm with Circular Representation in 2D and its Similarity to Mammalian Brains. I am excited about the paper since we compare our paper to the methods based on Lie group. Hope the paper can get published!

15 Nov

### Some materials for Lie group

Currently, I am studying Lie group to understand the application on localization. Here are some materials that I found very useful:B. C. Hall, Lie groups, Lie algebras, and representations : an elementary introduction,'' 2015. youtube lectures from Dr. Fredric Schuller The first book can be...

19 Jul

### Decoding position from grid cells

Grid patterns provide a universal and context-independent presentation of space, which can be further incorporated with the place characteritic for autonomous SLAM. To reach the final goal, we have to know how the position is encoded in the grid cells first.As a periodic structure, we can use von...

10 Apr

### The consistency of Wasserstein barycenter

We can regard Coavariance Intersection as special case of the solution of the barycenter of several probability distributions, when the distance measure is KL divergence. By changing the distance measure, one can get different barycenter of those probability distributions. One of the most important...

16 Feb

### The draft of CDC 2018 is finished

I jsut finished the draft of the submission to CDC this week. The paper this time is quite abstract. Even though I tried my best to write it, I still feel it could be better with ideas from others. Hope you can read it and give feedback. Thanks a lot.link

07 Feb

### Try to generalize my current result

I sadly found out that my current result on CI+KF only works in a very limited scenario.The goal is to prove that CI step can diminish the unobservable space, which means that the information can be meaningfully cascaded by CI step. However, by rigorous defining the algorithm, the information fro...