相关论文: Safe Uncertainty-Aware Learning of Robotic Suturin…

Machine-learning-assisted cancer subtyping is a promising avenue in digital pathology. Cancer subtyping models, however, require careful training using expert annotations so that they can be inferred with a degree of known certainty (or…

In this paper, we introduce a probabilistic approach to risk assessment of robot systems by focusing on the impact of uncertainties. While various approaches to identifying systematic hazards (e.g., bugs, design flaws, etc.) can be found in…

This work presents a novel ensemble of Bayesian Neural Networks (BNNs) for control of safety-critical systems. Decision making for safety-critical systems is challenging due to performance requirements with significant consequences in the…

Learning natural and diverse behaviors from human motion datasets remains challenging in physics-based character control. Existing conditional adversarial models often suffer from tight and biased embedding distributions where embeddings…

Reinforcement learning is a promising approach to synthesizing policies for challenging robotics tasks. A key problem is how to ensure safety of the learned policy---e.g., that a walking robot does not fall over or that an autonomous car…

Safety is one of the key issues preventing the deployment of reinforcement learning techniques in real-world robots. While most approaches in the Safe Reinforcement Learning area do not require prior knowledge of constraints and robot…

Autonomous mobile robots are increasingly used in pedestrian-rich environments where safe navigation and appropriate human interaction are crucial. While Deep Reinforcement Learning (DRL) enables socially integrated robot behavior,…

We address the problem of safely learning controlled stochastic dynamics from discrete-time trajectory observations, ensuring system trajectories remain within predefined safe regions during both training and deployment. Safety-critical…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

This study presents the first evaluation of general-purpose imitation learning for surgeon-robot collaborative assistance in open surgery, targeting suture following: the grab-pull-release motion an assistant performs at every stitch. We…

Safety-critical control using high-dimensional sensory feedback from optical data (e.g., images, point clouds) poses significant challenges in domains like autonomous driving and robotic surgery. Control can rely on low-dimensional states…

Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…

Safety in reinforcement learning (RL) is a key property in both training and execution in many domains such as autonomous driving or finance. In this paper, we formalize it with a constrained RL formulation in the distributional RL setting.…

This paper presents the framework \textbf{GUARD} (\textbf{G}uided robot control via \textbf{U}ncertainty attribution and prob\textbf{A}bilistic kernel optimization for \textbf{R}isk-aware \textbf{D}ecision making) that combines traditional…

Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…

Reliability of machine learning (ML) systems is crucial in safety-critical applications such as healthcare, and uncertainty estimation is a widely researched method to highlight the confidence of ML systems in deployment. Sequential and…

Most existing federated learning methods are unable to estimate model/predictive uncertainty since the client models are trained using the standard loss function minimization approach which ignores such uncertainties. In many situations,…

Proper quantification of predictive uncertainty is essential for the use of machine learning in safety-critical applications. Various uncertainty measures have been proposed for this purpose, typically claiming superiority over other…

Autonomous driving heavily relies on perception systems to interpret the environment for decision-making. To enhance robustness in these safety critical applications, this paper considers a Deep Ensemble of Deep Neural Network regressors…