A transformer dynamics model plugged into an unscented Kalman filter gives zero-shot state estimates on unseen simulated container ships and outperforms classical baselines when velocity sensors are missing.
On the coupled motion of steering and rolling of a high speed container ship,
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Sailing Towards Zero-Shot State Estimation using Foundation Models Combined with a UKF
A transformer dynamics model plugged into an unscented Kalman filter gives zero-shot state estimates on unseen simulated container ships and outperforms classical baselines when velocity sensors are missing.