Tootfinder

Pedestrian Dead Reckoning using Invariant Extended Kalman Filter
Jingran Zhang, Zhengzhang Yan, Yiming Chen, Zeqiang He, Jiahao Chen
https://arxiv.org/abs/2508.11396 https://

Pedestrian Dead Reckoning using Invariant Extended Kalman Filter
This paper presents a cost-effective inertial pedestrian dead reckoning method for the bipedal robot in the GPS-denied environment. Each time when the inertial measurement unit (IMU) is on the stance foot, a stationary pseudo-measurement can be executed to provide innovation to the IMU measurement based prediction. The matrix Lie group based theoretical development of the adopted invariant extended Kalman filter (InEKF) is set forth for tutorial purpose. Three experiments are conducted to compa…

Classification Filtering
Ilker Bayram
https://arxiv.org/abs/2509.13975 https://arxiv.org/pdf/2509.13975

Classification Filtering
We consider a streaming signal in which each sample is linked to a latent class. We assume that multiple classifiers are available, each providing class probabilities with varying degrees of accuracy. These classifiers are employed following a straightforward and fixed policy. In this setting, we consider the problem of fusing the output of the classifiers while incorporating the temporal aspect to improve classification accuracy. We propose a state-space model and develop a filter tailored for…

I'll gonna take some time today to personalize the message and send out emails from my own account to hopefully ditch filtering on the target side and make my voice heard. Allowing chat control does not only put privacy and democracy in danger. At times of constant digital attacks from rogue states like Russia, the US, North Korea and China etc. it should be obvious that having weak encryption and standard backdoor access to secure communications channels is an invitation for any malici…

Fight Chat Control (@chatcontrol@mastodon.social)
Angehängt: 1 Bild Germany's position has been reverted to UNDECIDED. Despite expressing concerns about breaking end-to-end encryption, Germany refrained from taking a definitive stance on the Chat Control proposal during the September 12th LEWP meeting. A willingness to negotiate and compromise remains. This is an unfortunate development as Germany is crucial to defeating Chat Control. Please make your voices heard! https://fightchatcontrol.eu/ Source: https://netzpolitik.org/2025/chatko…

Predictability-Aware Motion Prediction for Edge XR via High-Order Error-State Kalman Filtering
Ziyu Zhong, Hector A Caltenco, Bj\"orn Landfeldt, G\"unter Alce
https://arxiv.org/abs/2507.13179

Predictability-Aware Motion Prediction for Edge XR via High-Order Error-State Kalman Filtering
As 6G networks are developed and defined, offloading of XR applications is emerging as one of the strong new use cases. The reduced 6G latency coupled with edge processing infrastructure will for the first time provide a realistic offloading scenario in cellular networks where several computationally intensive functions, including rendering, can migrate from the user device and into the network. A key advantage of doing so is the lowering of the battery needs in the user devices and the possibi…

Matrix Control Barrier Functions
Pio Ong, Yicheng Xu, Ryan M. Bena, Faryar Jabbari, Aaron D. Ames
https://arxiv.org/abs/2508.11795 https://arxiv.org/pdf/25…

Matrix Control Barrier Functions
This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and indefinite. Matrix inequalities can be used to describe a richer class of safe sets, including nonsmooth ones. The safety filters constructed from our proposed matrix control barrier functions via semidefinite programming (CBF-SDP) are shown to be continuous. O…

Diversity in planetary architectures from pebble accretion: Water delivery to the habitable zone with pebble snow
Sean McCloat, Gijs Mulders, Sherry Fieber-Beyer
https://arxiv.org/abs/2509.14101

Diversity in planetary architectures from pebble accretion: Water delivery to the habitable zone with pebble snow
"Pebble snow" describes a planet formation mechanism where icy pebbles in the outer disk reach inner planet embryos as the water ice line evolves inward. We model the effects pebble snow has on sculpting planetary system architectures by developing "The PPOLs Model". The model is capable of growing any number of protoplanet seed masses by pebble accretion simultaneously and accounts for differences in rocky and icy pebble composition, the filtering of pebbles by other protoplanets, the pebble i…

Superresolving Non-linear PDE Dynamics with Reduced-Order Autodifferentiable Ensemble Kalman Filtering For Turbulence Modeling and Flow Regulation
Mrigank Dhingra, Omer San
https://arxiv.org/abs/2509.12149

Superresolving Non-linear PDE Dynamics with Reduced-Order Autodifferentiable Ensemble Kalman Filtering For Turbulence Modeling and Flow Regulation
Accurately reconstructing and forecasting high-resolution (HR) states from computationally cheap low-resolution (LR) observations is central to estimation-and-control of spatio-temporal PDE systems. We develop a unified superresolution pipeline based on the reduced-order autodifferentiable Ensemble Kalman filter (ROAD-EnKF). The method learns a low-dimensional latent dynamics model and a nonlinear decoder from latent variables to HR fields; the learned pair is embedded in an EnKF, enabling simu…

Accelerating Discovery: Rapid Literature Screening with LLMs
Santiago Matalonga, Domenico Amalfitano, Jean Carlo Rossa Hauck, Mart\'in Solari, Guilherme H. Travassos
https://arxiv.org/abs/2509.13103

Accelerating Discovery: Rapid Literature Screening with LLMs
Background: Conducting Multi Vocal Literature Reviews (MVLRs) is often time and effort-intensive. Researchers must review and filter a large number of unstructured sources, which frequently contain sparse information and are unlikely to be included in the final study. Our experience conducting an MVLR on Context-Aware Software Systems (CASS) Testing in the avionics domain exemplified this challenge, with over 8,000 highly heterogeneous documents requiring review. Therefore, we developed a Large…

Real-Time Streaming Mel Vocoding with Generative Flow Matching
Simon Welker, Tal Peer, Timo Gerkmann
https://arxiv.org/abs/2509.15085 https://arxiv.org/pdf…

Real-Time Streaming Mel Vocoding with Generative Flow Matching
The task of Mel vocoding, i.e., the inversion of a Mel magnitude spectrogram to an audio waveform, is still a key component in many text-to-speech (TTS) systems today. Based on generative flow matching, our prior work on generative STFT phase retrieval (DiffPhase), and the pseudoinverse operator of the Mel filterbank, we develop MelFlow, a streaming-capable generative Mel vocoder for speech sampled at 16 kHz with an algorithmic latency of only 32 ms and a total latency of 48 ms. We show real-ti…

DKFNet: Differentiable Kalman Filter for Field Inversion and Machine Learning
Yuan Wu, Sicheng He
https://arxiv.org/abs/2509.07474 https://arxiv.org/pdf/25…

DKFNet: Differentiable Kalman Filter for Field Inversion and Machine Learning
The Kalman filter is a fundamental tool for state estimation in dynamical systems. While originally developed for linear Gaussian settings, it has been extended to nonlinear problems through approaches such as the extended and unscented Kalman filters. Despite its broad use, a persistent limitation is that the underlying approximate model is fixed, which can lead to significant deviations from the true system dynamics. To address this limitation, we introduce the differentiable Kalman filter (D…