5 accepted papers
Data selection during supervised fine-tuning (SFT) can critically change the behavior of large language models (LLMs). Although existing work has studied the effect of selecting data based on heuristics such as perplexity, difficulty, or length, the reported findings are often inconsistent or contex…
Reliable state estimation hinges on accurate specification of sensor noise covariances, which weigh heterogeneous measurements. In practice, these covariances are difficult to identify due to environmental variability, front-end preprocessing, and other reasons. We address this by formulating noise …
Despite the popularity of Adam optimizer in practice, most theoretical analyses study SGD as a proxy and little is known about how the solutions found by Adam differ. In this paper, we show that Adam reduces a specific form of sharpness measure shaped by its adaptive updates, leading to qualitativel…
State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband (UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on robotics treat UWB as a stand-alone state estimation solutio…
Pose estimation is important for robotic perception, path planning, etc. Robot poses can be modeled on matrix Lie groups and are usually estimated via filter-based methods. In this letter, we establish the closed-form formula for the error propagation for the Invariant extended Kalman filter (IEKF)