相关论文: Introspective Robot Perception using Smoothed Pred…

Training robots to operate effectively in environments with uncertain states, such as ambiguous object properties or unpredictable interactions, remains a longstanding challenge in robotics. Imitation learning methods typically rely on…

This paper presents Neural Visibility Field (NVF), a novel uncertainty quantification method for Neural Radiance Fields (NeRF) applied to active mapping. Our key insight is that regions not visible in the training views lead to inherently…

The opaque nature of transformer-based models, particularly in applications susceptible to unethical practices such as dark-patterns in user interfaces, requires models that integrate uncertainty quantification to enhance trust in…

Terrain Classification is an essential task in space exploration, where unpredictable environments are difficult to observe using only exteroceptive sensors such as vision. Implementing Neural Network classifiers can have high performance…

Uncertainty estimation in deep neural networks is essential for designing reliable and robust AI systems. Applications such as video surveillance for identifying suspicious activities are designed with deep neural networks (DNNs), but DNNs…

Reliable predictive uncertainty estimation plays an important role in enabling the deployment of neural networks to safety-critical settings. A popular approach for estimating the predictive uncertainty of neural networks is to define a…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

With the advent of Neural Radiance Field (NeRF), representing 3D scenes through multiple observations has shown remarkable improvements in performance. Since this cutting-edge technique is able to obtain high-resolution renderings by…

Exploring unknown environments is a fundamental task in many domains, e.g., robot navigation, network security, and internet search. We initiate the study of a learning-augmented variant of the classical, notoriously hard online graph…

Deep learning (DL) has recently attracted increasing interest to improve object type classification for automotive radar.In addition to high accuracy, it is crucial for decision making in autonomous vehicles to evaluate the reliability of…

Bayesian Neural Networks (BNNs) offer a principled and natural framework for proper uncertainty quantification in the context of deep learning. They address the typical challenges associated with conventional deep learning methods, such as…

Due to the growing adoption of deep neural networks in many fields of science and engineering, modeling and estimating their uncertainties has become of primary importance. Despite the growing literature about uncertainty quantification in…

Uncertainty estimation is essential to make neural networks trustworthy in real-world applications. Extensive research efforts have been made to quantify and reduce predictive uncertainty. However, most existing works are designed for…

Recent advances in Neural Variational Inference allowed for a renaissance in latent variable models in a variety of domains involving high-dimensional data. While traditional variational methods derive an analytical approximation for the…

We introduce an unsupervised formulation to estimate heteroscedastic uncertainty in retrieval systems. We propose an extension to triplet loss that models data uncertainty for each input. Besides improving performance, our formulation…

Misclassification detection is an important problem in machine learning, as it allows for the identification of instances where the model's predictions are unreliable. However, conventional uncertainty measures such as Shannon entropy do…

A critical limitation of current methods based on Neural Radiance Fields (NeRF) is that they are unable to quantify the uncertainty associated with the learned appearance and geometry of the scene. This information is paramount in real…

Deep networks are currently the state-of-the-art for sensory perception in autonomous driving and robotics. However, deep models often generate overconfident predictions precluding proper probabilistic interpretation which we argue is due…

Advances in adversarial defenses have led to a significant improvement in the robustness of Deep Neural Networks. However, the robust accuracy of present state-ofthe-art defenses is far from the requirements in critical applications such as…

Artificial neural networks (ANNs) are powerful machine learning methods used in many modern applications such as facial recognition, machine translation, and cancer diagnostics. A common issue with ANNs is that they usually have millions or…