相关论文: E2-BKI: Evidential Ellipsoidal Bayesian Kernel Inf…

Scientific machine learning increasingly uses spectral methods to understand physical systems. Current spectral learning approaches provide only point estimates without uncertainty quantification, limiting their use in safety-critical…

Learning expressive kernels while retaining tractable inference remains a central challenge in scaling Gaussian processes (GPs) to large and complex datasets. We propose a scalable GP regressor based on deep basis kernels (DBKs). Our DBK is…

We propose an extrinsic Bayesian optimization (eBO) framework for general optimization problems on manifolds. Bayesian optimization algorithms build a surrogate of the objective function by employing Gaussian processes and quantify the…

Bayesian inference is an effective approach for solving statistical learning problems especially with uncertainty and incompleteness. However, inference efficiencies are physically limited by the bottlenecks of conventional computing…

While particle trajectories encode information on their governing potentials, potentials can be challenging to robustly extract from trajectories. Measurement errors may corrupt a particle's position, and sparse sampling of the potential…

Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native…

This work studies Semantic Scene Completion which aims to predict a 3D semantic segmentation of our surroundings, even though some areas are occluded. For this we construct a Bayesian Convolutional Neural Network (BCNN), which is not only…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

Brain-computer interface (BCI) systems facilitate unique communication between humans and computers, benefiting severely disabled individuals. Despite decades of research, BCIs are not fully integrated into clinical and commercial settings.…

Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…

In this paper, we present a novel algorithm for probabilistically updating and rasterizing semantic maps within 3D Gaussian Splatting (3D-GS). Although previous methods have introduced algorithms which learn to rasterize features in 3D-GS…

While modern machine learning has transformed numerous application domains, its growing computational demands increasingly constrain scalability and efficiency, particularly on embedded and resource-limited platforms. In practice, neural…

Autonomous exploration is a crucial aspect of robotics, enabling robots to explore unknown environments and generate maps without prior knowledge. This paper proposes a method to enhance exploration efficiency by integrating neural…

Explainable AI (XAI) is crucial for building transparent and trustworthy machine learning systems, especially in high-stakes domains. Concept Bottleneck Models (CBMs) have emerged as a promising ante-hoc approach that provides…

Probabilistic state estimation is essential for robots navigating uncertain environments. Accurately and efficiently managing uncertainty in estimated states is key to robust robotic operation. However, nonlinearities in robotic platforms…

The trustworthiness of neural networks is often challenged because they lack the ability to express uncertainty and explain their skill. This can be problematic given the increasing use of neural networks in high stakes decision-making such…

As a tool for capturing irregular temporal dependencies (rather than resorting to binning temporal observations to construct time series), Hawkes processes with exponential decay have seen widespread adoption across many application…

While neural networks have demonstrated impressive performance across various tasks, accurately quantifying uncertainty in their predictions is essential to ensure their trustworthiness and enable widespread adoption in critical systems.…

In this study, a scalable online kernel learning framework is proposed for estimating bidirectional causal effects in systems characterized by mutual dependence and heteroskedasticity. Traditional causal inference often focuses on…

We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…