{"id":"https://openalex.org/W4416748345","doi":"https://doi.org/10.1109/iros60139.2025.11246156","title":"DnD Filter: Differentiable State Estimation for Dynamic Systems using Diffusion Models","display_name":"DnD Filter: Differentiable State Estimation for Dynamic Systems using Diffusion Models","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748345","doi":"https://doi.org/10.1109/iros60139.2025.11246156"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246156","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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":null,"display_name":"Ziyu Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ziyu Wan","raw_affiliation_strings":["National University of Singapore,Department of Electrical and Computer Engineering,Singapore,117583"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Electrical and Computer Engineering,Singapore,117583","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103001115","display_name":"Lin Zhao","orcid":"https://orcid.org/0000-0002-6400-4364"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lin Zhao","raw_affiliation_strings":["National University of Singapore,Department of Electrical and Computer Engineering,Singapore,117583"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Electrical and Computer Engineering,Singapore,117583","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":1.4136,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.86248083,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"13851","last_page":"13858"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.14579999446868896,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.14579999446868896,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.12929999828338623,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.0649000033736229,"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/differentiable-function","display_name":"Differentiable function","score":0.8011000156402588},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5784000158309937},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5390999913215637},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4970000088214874},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4771000146865845},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.4503999948501587},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44200000166893005},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4318999946117401}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.8011000156402588},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5784000158309937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5550000071525574},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5390999913215637},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4970000088214874},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4771000146865845},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.4503999948501587},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44200000166893005},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4318999946117401},{"id":"https://openalex.org/C137685913","wikidata":"https://www.wikidata.org/wiki/Q4316763","display_name":"Nonlinear filter","level":4,"score":0.4180999994277954},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4032999873161316},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.39649999141693115},{"id":"https://openalex.org/C68710425","wikidata":"https://www.wikidata.org/wiki/Q5275442","display_name":"Diffusion process","level":3,"score":0.376800000667572},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.37630000710487366},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3727000057697296},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3562000095844269},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3425000011920929},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28870001435279846},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.28049999475479126},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.271699994802475},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.26910001039505005},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.26170000433921814}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246156","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2009104157","https://openalex.org/W2047448918","https://openalex.org/W2115579991","https://openalex.org/W2143737806","https://openalex.org/W2255466643","https://openalex.org/W2963371290","https://openalex.org/W3034400571","https://openalex.org/W3043426275","https://openalex.org/W3114773556","https://openalex.org/W3133114212","https://openalex.org/W3162043200","https://openalex.org/W3174681888","https://openalex.org/W3192711503","https://openalex.org/W3205009189","https://openalex.org/W4210394653","https://openalex.org/W4231367092","https://openalex.org/W4383097042","https://openalex.org/W4385694567","https://openalex.org/W4386285856","https://openalex.org/W4389665722","https://openalex.org/W4389665935","https://openalex.org/W4401417422","https://openalex.org/W4403337227","https://openalex.org/W4405556646","https://openalex.org/W4413944800","https://openalex.org/W4415795547"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"the":[3,50,96,115,123],"DnD":[4,33,80,120],"Filter,":[5],"a":[6,36,45,70,74,89,135],"differentiable":[7,21,103,108],"filter":[8],"that":[9,110],"utilizes":[10],"diffusion":[11,46,129],"models":[12,130],"for":[13,131,140],"state":[14,38,52,132],"estimation":[15,93,142],"of":[16,117],"dynamic":[17],"systems.":[18],"Unlike":[19],"conventional":[20],"filters,":[22,104],"which":[23],"often":[24],"impose":[25],"restrictive":[26],"assumptions":[27],"on":[28,48,57,68,95],"process":[29],"noise":[30],"(e.g.,":[31],"Gaussianity),":[32],"Filter":[34,81,121],"enables":[35],"nonlinear":[37,141],"update":[39],"without":[40],"such":[41],"constraints":[42],"by":[43],"conditioning":[44],"model":[47],"both":[49,69],"predicted":[51],"and":[53,73,105,137],"observational":[54],"data,":[55],"capitalizing":[56],"its":[58,66],"ability":[59],"to":[60,101,127],"approximate":[61],"complex":[62],"distributions.":[63],"We":[64],"validate":[65],"effectiveness":[67],"simulated":[71],"task":[72,99],"real-world":[75],"visual":[76,97],"odometry":[77,98],"task,":[78],"where":[79],"consistently":[82],"outperforms":[83],"existing":[84],"baselines.":[85],"Specifically,":[86],"it":[87],"achieves":[88],"25%":[90],"improvement":[91],"in":[92],"accuracy":[94],"compared":[100],"state-of-the-art":[102],"even":[106],"surpasses":[107],"smoothers":[109],"utilize":[111],"future":[112],"measurements.":[113,145],"To":[114],"best":[116],"our":[118],"knowledge,":[119],"represents":[122],"first":[124],"successful":[125],"attempt":[126],"leverage":[128],"estimation,":[133],"offering":[134],"flexible":[136],"powerful":[138],"framework":[139],"under":[143],"noisy":[144],"The":[146],"code":[147],"is":[148],"available":[149],"at":[150],"https://github.com/ZiyuNUS/DnDFilter.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}