相关论文: Detection of Anomalous Behavior in Robot Systems B…

Home robots intend to make their users lives easier. Our work assists in this goal by enabling robots to inform their users of dangerous or unsanitary anomalies in their home. Some examples of these anomalies include the user leaving their…

Reconstruction error-based neural architectures constitute a classical deep learning approach to anomaly detection which has shown great performances. It consists in training an Autoencoder to reconstruct a set of examples deemed to…

In this paper, we address the problem of detecting anomalies among a given set of binary processes via learning-based controlled sensing. Each process is parameterized by a binary random variable indicating whether the process is anomalous.…

Performing anomaly detection in hybrid systems is a challenging task since it requires analysis of timing behavior and mutual dependencies of both discrete and continuous signals. Typically, it requires modeling system behavior, which is…

Existing autonomous robot navigation systems allow robots to move from one point to another in a collision-free manner. However, when facing new environments, these systems generally require re-tuning by expert roboticists with a good…

Recently, with the development of deep learning, end-to-end neural network architectures have been increasingly applied to condition monitoring signals. They have demonstrated superior performance for fault detection and classification, in…

Anomaly detection is critical for the secure and reliable operation of industrial control systems. As our reliance on such complex cyber-physical systems grows, it becomes paramount to have automated methods for detecting anomalies,…

Autonomous control systems face significant challenges in performing complex tasks in the presence of latent risks. To address this, we propose an integrated framework that combines Large Language Models (LLMs), numerical optimization, and…

Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…

This paper presents an autoencoder based unsupervised approach to identify anomaly in an industrial machine using sounds produced by the machine. The proposed framework is trained using log-melspectrogram representations of the sound…

We develop a supervised machine learning model that detects anomalies in systems in real time. Our model processes unbounded streams of data into time series which then form the basis of a low-latency anomaly detection model. Moreover, we…

This paper presents a new method for anomaly detection in automated systems with time and compute sensitive requirements, such as autonomous driving, with unparalleled efficiency. As systems like autonomous driving become increasingly…

As a rapidly growing cyber-physical platform, Autonomous Vehicles (AVs) are encountering more security challenges as their capabilities continue to expand. In recent years, adversaries are actively targeting the perception sensors of…

The prediction quality of machine learnt models and the functionality they ultimately enable (e.g., object detection), is typically evaluated using a variety of quantitative metrics that are specified in the associated model performance…

With the rapid development of multi-cloud environments, it is increasingly important to ensure the security and reliability of intelligent monitoring systems. In this paper, we propose an anomaly detection and early warning mechanism for…

This paper explores the application of unsupervised learning to detecting anomalies in mouse video data. The two models presented in this paper are a dual-stream, 3D convolutional autoencoder (with residual connections) and a dual-stream,…

Anomaly detection in industrial visual inspection is challenging due to the scarcity of defective samples. Most existing methods rely on unsupervised reconstruction using only normal data, often resulting in overfitting and poor detection…

Predicting movement of objects while the action of learning agent interacts with the dynamics of the scene still remains a key challenge in robotics. We propose a multi-layer Long Short Term Memory (LSTM) autoendocer network that predicts…

Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…

Most anomaly detection systems try to model normal behavior and assume anomalies deviate from it in diverse manners. However, there may be patterns in the anomalies as well. Ideally, an anomaly detection system can exploit patterns in both…