🤖 AI Summary
This work addresses the inefficiency, high latency, and unbounded memory consumption associated with likelihood computation in Bayesian state estimation by introducing a novel Bayesian filtering approach grounded in native processor operations. For the first time, it integrates native uncertainty tracking into Bayesian inference and combines it with deterministic stratified importance resampling, enabling online inference for arbitrary procedural dynamic models. The proposed method achieves root mean square error (RMSE) accuracy comparable to particle filters while delivering up to an 805× average speedup over Monte Carlo methods. It further guarantees deterministic latency, bounded memory usage, and attains Pareto optimality in the trade-off between accuracy and latency.
📝 Abstract
Sensor-rich data-driven applications increasingly use Bayesian approaches to infer latent states of dynamic systems from noisy sensor measurements and physical models. Yet the computation of the likelihood remains an essential bottleneck for accurate posteriors and performant inference. This paper presents a Bayesian filtering technique that uses processor-native uncertainty tracking for both uncertainty propagation and inference. The technique implements deterministic hierarchical importance restructuring through a native operation, giving deterministic latency and bounded memory use for arbitrary models written as program code. Benchmarks across three nonlinear state-space systems compare the approach against particle filters and Monte-Carlo-based likelihood estimators. The technique enables deterministic approximate filtering with as high as 805$\times$ average speedup against direct Monte Carlo work at matched result quality for model evaluation, and Pareto-dominant accuracy-latency trade-offs for posterior inference while remaining competitive in RMSE with baseline particle filters.