{"id":"https://openalex.org/W3206324264","doi":"https://doi.org/10.1109/icra48506.2021.9561889","title":"End-to-End Semi-supervised Learning for Differentiable Particle Filters","display_name":"End-to-End Semi-supervised Learning for Differentiable Particle Filters","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206324264","doi":"https://doi.org/10.1109/icra48506.2021.9561889","mag":"3206324264"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057735128","display_name":"Hao Wen","orcid":"https://orcid.org/0000-0002-8856-0883"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hao Wen","raw_affiliation_strings":["Department of Computer Science, University of Surrey, Surrey, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Surrey, Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072195876","display_name":"Xiongjie Chen","orcid":"https://orcid.org/0000-0001-5107-792X"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xiongjie Chen","raw_affiliation_strings":["Department of Computer Science, University of Surrey, Surrey, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Surrey, Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010297594","display_name":"Georgios Papagiannis","orcid":"https://orcid.org/0000-0003-1771-8695"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Georgios Papagiannis","raw_affiliation_strings":["Department of Computer Science, University of Surrey, Surrey, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Surrey, Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068815813","display_name":"Conghui Hu","orcid":"https://orcid.org/0000-0001-5866-107X"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Conghui Hu","raw_affiliation_strings":["Department of Computer Science, University of Surrey, Surrey, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Surrey, Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100331862","display_name":"Yunpeng Li","orcid":"https://orcid.org/0000-0003-4798-541X"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yunpeng Li","raw_affiliation_strings":["Department of Computer Science, University of Surrey, Surrey, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Surrey, Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I28290843"],"apc_list":null,"apc_paid":null,"fwci":1.8188,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.88041004,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5825","last_page":"5831"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.7721996307373047},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.7276197075843811},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7260767221450806},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6547144651412964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6329827904701233},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.5720983743667603},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5016679763793945},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.49761679768562317},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.48230886459350586},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4629541039466858},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4535575211048126},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.28056594729423523},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2324346899986267},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17044475674629211},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.09788504242897034}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7721996307373047},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.7276197075843811},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7260767221450806},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6547144651412964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6329827904701233},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.5720983743667603},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5016679763793945},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.49761679768562317},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.48230886459350586},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4629541039466858},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4535575211048126},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28056594729423523},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2324346899986267},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17044475674629211},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.09788504242897034},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W60079408","https://openalex.org/W95577512","https://openalex.org/W1522301498","https://openalex.org/W1959608418","https://openalex.org/W2007998685","https://openalex.org/W2023360702","https://openalex.org/W2064675550","https://openalex.org/W2098091224","https://openalex.org/W2098613108","https://openalex.org/W2106245815","https://openalex.org/W2165609874","https://openalex.org/W2176035349","https://openalex.org/W2198527813","https://openalex.org/W2395463083","https://openalex.org/W2557465155","https://openalex.org/W2616889532","https://openalex.org/W2697319950","https://openalex.org/W2742165450","https://openalex.org/W2743429067","https://openalex.org/W2751499916","https://openalex.org/W2783375473","https://openalex.org/W2955983623","https://openalex.org/W2963088756","https://openalex.org/W2963102369","https://openalex.org/W2963203809","https://openalex.org/W2963371290","https://openalex.org/W2963714390","https://openalex.org/W2964121744","https://openalex.org/W2964334616","https://openalex.org/W2969987364","https://openalex.org/W2981952041","https://openalex.org/W2996501936","https://openalex.org/W2998415999","https://openalex.org/W3020787282","https://openalex.org/W3103934441","https://openalex.org/W3169333378","https://openalex.org/W4288288748","https://openalex.org/W4293568259","https://openalex.org/W6631190155","https://openalex.org/W6640963894","https://openalex.org/W6685152286","https://openalex.org/W6712730493","https://openalex.org/W6738609897","https://openalex.org/W6743714445","https://openalex.org/W6747912417","https://openalex.org/W6753773310","https://openalex.org/W6763015118","https://openalex.org/W6771787070","https://openalex.org/W6774205500","https://openalex.org/W6776210289","https://openalex.org/W6780225908","https://openalex.org/W6796083308"],"related_works":["https://openalex.org/W4285277090","https://openalex.org/W4327738859","https://openalex.org/W3179968364","https://openalex.org/W2348722996","https://openalex.org/W2334570605","https://openalex.org/W3181683615","https://openalex.org/W4286826125","https://openalex.org/W1633485514","https://openalex.org/W1980454230","https://openalex.org/W2300851791"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,17,26,40,60,65,110,114],"incorporating":[3],"neural":[4],"networks":[5],"into":[6],"particle":[7,15,36],"filters":[8,16],"provide":[9],"the":[10,32,46,69,82,91,107],"desired":[11],"flexibility":[12],"to":[13,55,67],"apply":[14],"large-scale":[18],"real-world":[19,119],"applications.":[20],"The":[21],"dynamic":[22],"and":[23,118],"measurement":[24],"models":[25,43],"this":[27,63],"framework":[28],"are":[29,101],"learnable":[30],"through":[31],"differentiable":[33],"implementation":[34],"of":[35,48,84,93,98,106],"filters.":[37],"Past":[38],"efforts":[39],"optimising":[41],"such":[42],"often":[44],"require":[45],"knowledge":[47],"true":[49,99],"states":[50,94,100],"which":[51,88],"can":[52,89],"be":[53],"expensive":[54],"obtain":[56],"or":[57],"even":[58],"unavailable":[59],"practice.":[61],"In":[62],"paper,":[64],"order":[66],"reduce":[68],"demand":[70],"for":[71],"annotated":[72],"data,":[73],"we":[74],"present":[75],"an":[76],"end-to-end":[77],"learning":[78],"objective":[79],"based":[80],"upon":[81],"maximisation":[83],"a":[85],"pseudo-likelihood":[86],"function":[87],"improve":[90],"estimation":[92,112],"when":[95],"large":[96],"portion":[97],"unknown.":[102],"We":[103],"assess":[104],"performance":[105],"proposed":[108],"method":[109],"state":[111],"tasks":[113],"robotics":[115],"with":[116],"simulated":[117],"datasets.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
