相关论文: Quantification of Uncertainties in Deep Learning-b…

Deep learning has achieved impressive performance on many tasks in recent years. However, it has been found that it is still not enough for deep neural networks to provide only point estimates. For high-risk tasks, we need to assess the…

This short paper presents research findings on two learning-based methods for quantifying measurement uncertainties in global navigation satellite systems (GNSS). We investigate two learning strategies: offline learning for outlier…

Despite tremendous success of modern neural networks, they are known to be overconfident even when the model encounters inputs with unfamiliar conditions. Detecting such inputs is vital to preventing models from making naive predictions…

The inability of artificial neural networks to assess the uncertainty of their predictions is an impediment to their widespread use. We distinguish two types of learnable uncertainty: model uncertainty due to a lack of training data and…

Accurate reconstruction of environmental scalar fields from sparse onboard observations is essential for autonomous vehicles engaged in aquatic monitoring. Beyond point estimates, principled uncertainty quantification is critical for active…

Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

Deterministic neural nets have been shown to learn effective predictors on a wide range of machine learning problems. However, as the standard approach is to train the network to minimize a prediction loss, the resultant model remains…

In many important machine learning applications, the training distribution used to learn a probabilistic classifier differs from the testing distribution on which the classifier will be used to make predictions. Traditional methods correct…

Though deep learning has achieved advanced performance recently, it remains a challenging task in the field of medical imaging, as obtaining reliable labeled training data is time-consuming and expensive. In this paper, we propose a…

When the cost of misclassifying a sample is high, it is useful to have an accurate estimate of uncertainty in the prediction for that sample. There are also multiple types of uncertainty which are best estimated in different ways, for…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

Robust quantification of predictive uncertainty is critical for understanding factors that drive weather and climate outcomes. Ensembles provide predictive uncertainty estimates and can be decomposed physically, but both physics and machine…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Deep learning models are being adopted and applied on various critical decision-making tasks, yet they are trained to provide point predictions without providing degrees of confidence. The trustworthiness of deep learning models can be…

Neural Linear Models (NLM) are deep Bayesian models that produce predictive uncertainty by learning features from the data and then performing Bayesian linear regression over these features. Despite their popularity, few works have focused…

The usage of environment sensor models for virtual testing is a promising approach to reduce the testing effort of autonomous driving. However, in order to deduce any statements regarding the performance of an autonomous driving function…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

Advances in architectural design, data availability, and compute have driven remarkable progress in semantic segmentation. Yet, these models often rely on relaxed Bayesian assumptions, omitting critical uncertainty information needed for…

Behaviour prediction function of an autonomous vehicle predicts the future states of the nearby vehicles based on the current and past observations of the surrounding environment. This helps enhance their awareness of the imminent hazards.…