相关论文: Heterogeneous Predictor-based Risk-Aware Planning …

Navigating social robots in dense, dynamic crowds is challenging due to environmental uncertainty and complex human-robot interactions. While Model Predictive Control (MPC) offers strong real-time performance, its reliance on a fixed…

Deep learning models in robotics often output point estimates with poorly calibrated confidences, offering no native mechanism to quantify predictive reliability under novel, noisy, or out-of-distribution inputs. Conformal prediction (CP)…

Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…

We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robustness under terrain uncertainty.…

Autonomous vehicles need to handle various traffic conditions and make safe and efficient decisions and maneuvers. However, on the one hand, a single optimization/sampling-based motion planner cannot efficiently generate safe trajectories…

Hyperspectral image (HSI) classification involves assigning unique labels to each pixel to identify various land cover categories. While deep classifiers have achieved high predictive accuracy in this field, they lack the ability to…

Navigating urban intersections, especially when interacting with heterogeneous traffic participants, presents a formidable challenge for autonomous vehicles (AVs). In such environments, safety risks arise simultaneously from multiple…

Conformal prediction (CP) is a framework to quantify uncertainty of machine learning classifiers including deep neural networks. Given a testing example and a trained classifier, CP produces a prediction set of candidate labels with a…

Machine learning (ML) plays a crucial role in assessing traversability for autonomous rover operations on deformable terrains but suffers from inevitable prediction errors. Especially for heterogeneous terrains where the geological features…

Uncertainty quantification is becoming increasingly important in image segmentation, especially for high-stakes applications like medical imaging. While conformal risk control generalizes conformal prediction beyond standard miscoverage to…

This paper proposes an iterative distributionally robust model predictive control (MPC) scheme to solve a risk-constrained infinite-horizon optimal control problem. In each iteration, the algorithm generates a trajectory from the starting…

Deploying mobile robots safely among humans requires the motion planner to account for the uncertainty in the other agents' predicted trajectories. This remains challenging in traditional approaches, especially with arbitrarily shaped…

Autonomous systems operate in environments that may change over time. An example is the control of a self-driving vehicle among pedestrians and human-controlled vehicles whose behavior may change based on factors such as traffic density,…

Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…

Most large-scale recommender systems follow a multi-stage cascade of retrieval, pre-ranking, ranking, and re-ranking. A key challenge at the pre-ranking stage arises from the heterogeneity of training instances sampled from coarse-grained…

We study object importance-based vision risk object identification (Vision-ROI), a key capability for hazard detection in intelligent driving systems. Existing approaches make deterministic decisions and ignore uncertainty, which could lead…

Safe motion planning in uncertain, time-varying environments is challenging because the safe region can change unpredictably across planning steps, often causing a loss of recursive feasibility. In this work, we present a Probabilistic…

Forward Collision Warning systems are crucial for vehicle safety and autonomous driving, yet current methods often fail to balance precise multi-agent interaction modeling with real-time decision adaptability, evidenced by the high…

Uncertainty is critical to reliable decision-making with machine learning. Conformal prediction (CP) handles uncertainty by predicting a set on a test input, hoping the set to cover the true label with at least $(1-\alpha)$ confidence. This…

This paper discusses a novel probabilistic approach for the design of robust model predictive control (MPC) laws for discrete-time linear systems affected by parametric uncertainty and additive disturbances. The proposed technique is based…