Optimal importance density for position location problem with non-Gaussian noise
Why this work is in the frame
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Bibliographic record
Abstract
State-space representation of positioning problems has enabled the use of particle filters to probabilistically estimate the location from the noisy sensor measurements. However, in particle filtering, the choice of the motion and sensor models, as well as the importance density used, are crucial for a good approximation. In this work, we have used Gaussian Mixtures to model the prior and likelihood densities, as they can be used for a wide range of distributions and can capture the multimodality of the densities. Additionally, with GMM prior and likelihood densities, we were able to evaluate and use the Optimal Importance Density for particle filters, which resolves the degeneracy of particles and sample impoverishment. We have provided simulation results based on field measurements to illustrate the validity of our models and the improvements made by using our proposed importance density.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it