相关论文: Sensor Validation Using Dynamic Belief Networks

Methodologies for incorporating the uncertainties characteristic of data-driven object detectors into object tracking algorithms are explored. Object tracking methods rely on measurement error models, typically in the form of measurement…

For many real time applications, it is important to validate the information received from the sensors before entering higher levels of reasoning. This paper presents an any time probabilistic algorithm for validating the information…

The use of neural networks as function approximators has enabled many advances in reinforcement learning (RL). The generalization power of neural networks combined with advances in RL algorithms has reignited the field of artificial…

Deep neural networks can be trained to be efficient and effective controllers for dynamical systems; however, the mechanics of deep neural networks are complex and difficult to guarantee. This work presents a general approach for providing…

- This work has been submitted to IFAC for possible publication - Models of traction batteries are an essential tool throughout the development of automotive drivetrains. Surprisingly, today's massively collected battery data is not yet…

Deep neural networks (DNNs) have become the technology of choice for realizing a variety of complex tasks. However, as highlighted by many recent studies, even an imperceptible perturbation to a correctly classified input can lead to…

Deep Learning (DL) has become essential in various robotics applications due to excelling at processing raw sensory data to extract task specific information from semantic objects. For example, vision-based object-relative navigation relies…

Deep Neural Network-based systems are now the state-of-the-art in many robotics tasks, but their application in safety-critical domains remains dangerous without formal guarantees on network robustness. Small perturbations to sensor inputs…

We introduce DeepCert, a tool-supported method for verifying the robustness of deep neural network (DNN) image classifiers to contextually relevant perturbations such as blur, haze, and changes in image contrast. While the robustness of DNN…

Learning from humans allows non-experts to program robots with ease, lowering the resources required to build complex robotic solutions. Nevertheless, such data-driven approaches often lack the ability to provide guarantees regarding their…

The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…

Optical identification is often done with spatial or temporal visual pattern recognition and localization. Temporal pattern recognition, depending on the technology, involves a trade-off between communication frequency, range and accurate…

Autonomous safe navigation in unstructured and novel environments poses significant challenges, especially when environment information can only be provided through low-cost vision sensors. Although safe reactive approaches have been…

DNNs trained on natural clean samples have been shown to perform poorly on corrupted samples, such as noisy or blurry images. Various data augmentation methods have been recently proposed to improve DNN's robustness against common…

We have developed an adaptive structural Deep Belief Network (Adaptive DBN) that finds an optimal network structure in a self-organizing manner during learning. The Adaptive DBN is the hierarchical architecture where each layer employs…

The widespread use of Deep Neural Networks (DNNs) has recently resulted in their application to challenging scientific visualization tasks. While advanced DNNs demonstrate impressive generalization abilities, understanding factors like…

Dynamic Network Embedding (DNE) has recently attracted considerable attention due to the advantage of network embedding in various fields and the dynamic nature of many real-world networks. An input dynamic network to DNE is often assumed…

As autonomous systems increasingly rely on Deep Neural Networks (DNN) to implement the navigation pipeline functions, uncertainty estimation methods have become paramount for estimating confidence in DNN predictions. Bayesian Deep Learning…

The use of Deep Neural Network (DNN) models in risk-based decision-making has attracted extensive attention with broad applications in medical, finance, manufacturing, and quality control. To mitigate prediction-related risks in decision…

We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…