Abstract: Neural network-assisted (NNA) Kalman filters provide an effective solution to addressing the filtering issues involving partially unknown system information by incorporating neural networks ...

Abstract: As the intricacy of network models escalates and the volume of data swells exponentially, the demands on the processing capabilities of neural networks have become increasingly rigorous.

In this paper, we propose NeRD (Neural Robot Dynamics), learned robot-specific dynamics models for predicting future states for articulated rigid bodies under contact constraints. NeRD uniquely ...