End-to-end training of a transformer measurement model through a differentiable EKF yields lower 60 s onboard-sensor dead-reckoning error and better low-µ generalization than pure ML or classical baselines.
Uncertainty- aware hybrid machine learning in virtual sensors for vehicle sideslip angle estimation,
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Physics-Regularized Machine Learning for Proprioceptive Vehicle Localization Using Onboard Sensors
End-to-end training of a transformer measurement model through a differentiable EKF yields lower 60 s onboard-sensor dead-reckoning error and better low-µ generalization than pure ML or classical baselines.