{"id":"https://openalex.org/W3098748824","doi":"https://doi.org/10.1109/iros45743.2020.9341579","title":"Multimodal Sensor Fusion with Differentiable Filters","display_name":"Multimodal Sensor Fusion with Differentiable Filters","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3098748824","doi":"https://doi.org/10.1109/iros45743.2020.9341579","mag":"3098748824"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2010.13021","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009589018","display_name":"Michelle A. Lee","orcid":"https://orcid.org/0000-0002-9893-3591"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michelle A. Lee","raw_affiliation_strings":["Stanford Artificial Intelligence Lab (SAIL), Stanford University","Stanford University,Stanford Artificial Intelligence Lab (SAIL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Artificial Intelligence Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004","https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Stanford University,Stanford Artificial Intelligence Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067921958","display_name":"Brent Yi","orcid":"https://orcid.org/0009-0009-8408-0717"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brent Yi","raw_affiliation_strings":["Stanford Artificial Intelligence Lab (SAIL), Stanford University","Stanford University,Stanford Artificial Intelligence Lab (SAIL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Artificial Intelligence Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004","https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Stanford University,Stanford Artificial Intelligence Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065655761","display_name":"Roberto Mart\u00edn-Mart\u00edn","orcid":"https://orcid.org/0000-0002-9586-2759"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Martin-Martin","raw_affiliation_strings":["Stanford Artificial Intelligence Lab (SAIL), Stanford University","Stanford University,Stanford Artificial Intelligence Lab (SAIL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Artificial Intelligence Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004","https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Stanford University,Stanford Artificial Intelligence Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042646536","display_name":"Silvio Savarese","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Silvio Savarese","raw_affiliation_strings":["Stanford Artificial Intelligence Lab (SAIL), Stanford University","Stanford University,Stanford Artificial Intelligence Lab (SAIL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Artificial Intelligence Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004","https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Stanford University,Stanford Artificial Intelligence Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021676288","display_name":"Jeannette Bohg","orcid":"https://orcid.org/0000-0002-4921-7193"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeannette Bohg","raw_affiliation_strings":["Stanford Artificial Intelligence Lab (SAIL), Stanford University","Stanford University ()"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Artificial Intelligence Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004","https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10444","last_page":"10451"},"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":0.9957000017166138,"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":0.9957000017166138,"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":0.9912999868392944,"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/differentiable-function","display_name":"Differentiable function","score":0.766689121723175},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.7534076571464539},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.723090648651123},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7033761739730835},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5942599773406982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5438100099563599},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.5134347677230835},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4263654351234436},{"id":"https://openalex.org/keywords/recursive-bayesian-estimation","display_name":"Recursive Bayesian estimation","score":0.4212314188480377},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41578537225723267},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.4136645197868347},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.3641221523284912},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33565956354141235},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1118207573890686},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09609892964363098}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.766689121723175},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.7534076571464539},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.723090648651123},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7033761739730835},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5942599773406982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5438100099563599},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.5134347677230835},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4263654351234436},{"id":"https://openalex.org/C40343088","wikidata":"https://www.wikidata.org/wiki/Q3059012","display_name":"Recursive Bayesian estimation","level":3,"score":0.4212314188480377},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41578537225723267},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.4136645197868347},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.3641221523284912},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33565956354141235},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1118207573890686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09609892964363098},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2010.13021","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.13021","pdf_url":"https://arxiv.org/pdf/2010.13021","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3098748824","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2010.13021","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2010.13021","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2010.13021","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2010.13021","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.13021","pdf_url":"https://arxiv.org/pdf/2010.13021","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3098748824.pdf"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1539811621","https://openalex.org/W2000795044","https://openalex.org/W2002748000","https://openalex.org/W2042154170","https://openalex.org/W2076776712","https://openalex.org/W2079182758","https://openalex.org/W2105934661","https://openalex.org/W2117392667","https://openalex.org/W2125921035","https://openalex.org/W2129078811","https://openalex.org/W2137052305","https://openalex.org/W2143320034","https://openalex.org/W2158782408","https://openalex.org/W2194775991","https://openalex.org/W2336416123","https://openalex.org/W2537677623","https://openalex.org/W2619383789","https://openalex.org/W2762453223","https://openalex.org/W2773276919","https://openalex.org/W2900152462","https://openalex.org/W2903045556","https://openalex.org/W2938253611","https://openalex.org/W2947844485","https://openalex.org/W2962705470","https://openalex.org/W2962854145","https://openalex.org/W2963030226","https://openalex.org/W2963102369","https://openalex.org/W2963371290","https://openalex.org/W2963714390","https://openalex.org/W2963723789","https://openalex.org/W2967578475","https://openalex.org/W6712730493","https://openalex.org/W6738021322","https://openalex.org/W6745511974","https://openalex.org/W6751659697","https://openalex.org/W6753773310","https://openalex.org/W6756256016","https://openalex.org/W6761524932","https://openalex.org/W6763548395"],"related_works":["https://openalex.org/W3133114212","https://openalex.org/W3106303797","https://openalex.org/W3162043200","https://openalex.org/W3141383601","https://openalex.org/W3153532599","https://openalex.org/W2252018834","https://openalex.org/W2964224524","https://openalex.org/W3012862922","https://openalex.org/W2322734358","https://openalex.org/W1974278399","https://openalex.org/W2563954902","https://openalex.org/W1912365962","https://openalex.org/W3110391207","https://openalex.org/W2069202742","https://openalex.org/W190055471","https://openalex.org/W2981638931","https://openalex.org/W2971143061","https://openalex.org/W2346439381","https://openalex.org/W1982012380","https://openalex.org/W3003471248"],"abstract_inverted_index":{"Leveraging":[0],"multimodal":[1],"information":[2,169],"with":[3,36,49,86,112],"recursive":[4,15,77],"Bayesian":[5,199],"filters":[6,16,62,164,200],"improves":[7],"performance":[8],"and":[9,45,93,146,148,196],"robustness":[10],"of":[11,76],"state":[12,38],"estimation,":[13],"as":[14],"can":[17,53,80,204],"combine":[18,104],"different":[19,33,96],"modalities":[20,35,88],"according":[21],"to":[22,30,58,66,103,129,173],"their":[23,50],"uncertainties.":[24],"Prior":[25],"work":[26],"has":[27],"studied":[28],"how":[29],"optimally":[31],"fuse":[32,130],"sensor":[34,87,132,168],"analytical":[37],"estimation":[39],"algorithms.":[40],"However,":[41],"deriving":[42],"the":[43,73],"dynamics":[44],"measurement":[46],"models":[47,69],"along":[48],"noise":[51],"profile":[52],"be":[54,81,183,205],"difficult":[55],"or":[56],"lead":[57],"intractable":[59],"models.":[60],"Differentiable":[61],"provide":[63],"a":[64,152],"way":[65],"learn":[67],"these":[68],"end-to-end":[70],"while":[71,177],"retaining":[72],"algorithmic":[74],"structure":[75],"filters.":[78],"This":[79],"especially":[82],"helpful":[83],"when":[84],"working":[85],"that":[89,162,165,181],"are":[90],"high":[91],"dimensional":[92],"have":[94],"very":[95],"characteristics.":[97],"In":[98,120,157],"contact-rich":[99],"manipulation,":[100],"we":[101,123,137,160],"want":[102],"visual":[105],"sensing":[106,114],"(which":[107,115],"gives":[108,116],"us":[109,117],"global":[110],"information)":[111],"tactile":[113],"local":[118],"information).":[119],"this":[121],"paper,":[122],"study":[124],"new":[125],"differentiable":[126,163,198],"filtering":[127],"architectures":[128],"heterogeneous":[131],"information.":[133],"As":[134],"case":[135],"studies,":[136],"evaluate":[138],"three":[139],"tasks:":[140],"two":[141],"in":[142,150,201],"planar":[143],"pushing":[144],"(simulated":[145],"real)":[147],"one":[149],"manipulating":[151],"kinematically":[153],"constrained":[154],"door":[155],"(simulated).":[156],"extensive":[158],"evaluations,":[159],"find":[161],"leverage":[166],"crossmodal":[167],"reach":[170],"comparable":[171],"accuracies":[172],"unstructured":[174],"LSTM":[175],"models,":[176],"presenting":[178],"interpretability":[179],"benefits":[180],"may":[182],"important":[184],"for":[185,194],"safety-critical":[186],"systems.":[187],"We":[188],"also":[189],"release":[190],"an":[191],"open-source":[192],"library":[193],"creating":[195],"training":[197],"PyTorch,":[202],"which":[203],"found":[206],"on":[207],"our":[208],"project":[209],"website:":[210],"https://sites.google.com/view/multimodalfilter.":[211]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}