Learning Observation Models with Incremental Non-Differentiable Graph Optimizers in the Loop for Robotics State Estimation

Published: 20 Jun 2023, Last Modified: 17 Sept 2023Differentiable Almost EverythingEveryoneRevisionsBibTeX
Keywords: non-differentiable optimizers, state and parameter estimation, incremental inference, factor graphs
Abstract: We consider the problem of learning observation models for robot state estimation with incremental non-differentiable optimizers in the loop. Convergence to the correct belief over the robot state is heavily dependent on a proper tuning of observation models which serve as input to the optimizer. We propose a gradient-based learning method which converges much quicker to model estimates that lead to solutions of much better quality compared to an existing state-of-the-art method as measured by the tracking accuracy over unseen robot test trajectories.
Submission Number: 20