STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations
Jiayi Wei,Jarrett Holtz,Isil Dillig,Joydeep Biswas,Jiayi Wei,Jarrett Holtz,Isil Dillig,Joydeep Biswas
Accurate kinodynamic models play a crucial role in many robotics applications such as off-road navigation and high-speed driving. Many state-of-the-art approaches for learning stochastic kinodynamic models, however, require precise measurements of robot states as labeled input/output examples, which can be hard to obtain in outdoor settings due to limited sensor capabilities and the absence of gro...
