相关论文: AG2U -- Autonomous Grading Under Uncertainties

This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-performance exploration policy in a single simulation…

Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth…

The rapid pace of recent research in AI has been driven in part by the presence of fast and challenging simulation environments. These environments often take the form of games; with tasks ranging from simple board games, to competitive…

Instruction tuning is a standard paradigm for adapting large language models (LLMs), but modern instruction datasets are large, noisy, and redundant, making full-data fine-tuning costly and often unnecessary. Existing data selection methods…

If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…

Testing under what conditions the product satisfies the desired properties is a fundamental problem in manufacturing industry. If the condition and the property are respectively regarded as the input and the output of a black-box function,…

Rankings are ubiquitous across many applications, from search engines to hiring committees. In practice, many rankings are derived from the output of predictors. However, when predictors trained for classification tasks have intrinsic…

Large-scale robotic policies trained on data from diverse tasks and robotic platforms hold great promise for enabling general-purpose robots; however, reliable generalization to new environment conditions remains a major challenge. Toward…

Learning-augmented algorithms have been attracting increasing interest, but have only recently been considered in the setting of explorable uncertainty where precise values of uncertain input elements can be obtained by a query and the goal…

Machine learning and data mining algorithms have been increasingly used recently to support decision-making systems in many areas of high societal importance such as healthcare, education, or security. While being very efficient in their…

Machine learning can significantly improve performance for decision-making under uncertainty across a wide range of domains. However, ensuring robustness guarantees requires well-calibrated uncertainty estimates, which can be difficult to…

Artificial Intelligence (AI) holds the potential to dramatically improve patient care. However, it is not infallible, necessitating human-AI-collaboration to ensure safe implementation. One aspect of AI safety is the models' ability to…

Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…

Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…

As instruction-tuned large language models (LLMs) evolve, aligning pretrained foundation models presents increasing challenges. Existing alignment strategies, which typically leverage diverse and high-quality data sources, often overlook…

Off-road autonomous unmanned ground vehicles (UGVs) are being developed for military and commercial use to deliver crucial supplies in remote locations, help with mapping and surveillance, and to assist war-fighters in contested…

Grading precancerous lesions on whole slide images is a challenging task: the continuous space of morphological phenotypes makes clear-cut decisions between different grades often difficult, leading to low inter- and intra-rater agreements.…

Uncertainty quantification is essential in human-machine collaboration, as human agents tend to adjust their decisions based on the confidence of the machine counterpart. Reliably calibrated model uncertainties, hence, enable more effective…

This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…

Graphical User Interface (GUI) grounding aims to translate natural language instructions into executable screen coordinates, enabling automated GUI interaction. Nevertheless, incorrect grounding can result in costly, hard-to-reverse actions…