Author

Shi-Da Jiang

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Preprint Sep 2026

Probe Sets for Nonlinear Kalman Filtering: Multi-Center Gains and Covariance Recalibration

Kalman filters (KFs) choose the gain as the product of the state--measurement cross-covariance and the inverse of the innovation covariance. In nonlinear systems, the predictive distribution generally changes shape, and these covariances require approximation. Conventional nonlinear KFs approximate them around a single...

Shi-Da Jiang, Shen Tao, Scott Moura · 0 citations

#small language model Preprint Oct 2026

Why VLMs Miss Small Objects, and When Zooming In Is Safe

A theory built on two quantities of the image interface: S, the number of visual tokens across an object's side, and L, the content a call must cover, which concludes that recognition improves gradually with S, and any search strategy, zoom agents included, obeys a recall-cost frontier.

Jun-Zhe Shi, Yuan Gan, Shi-Da Jiang · 0 citations