相关论文: Failure Prediction at Runtime for Generative Robot…

We describe Fibres of Failure (FiFa), a method to classify failure modes of predictive processes using the Mapper algorithm from Topological Data Analysis. Our method uses Mapper to build a graph model of input data stratified by prediction…

Advancements in robotics have opened possibilities to automate tasks in various fields such as manufacturing, emergency response and healthcare. However, a significant challenge that prevents robots from operating in real-world environments…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

Failures in optical network backbone can lead to major disruption of internet data traffic. Hence, minimizing such failures is of paramount importance for the network operators. Even better, if the network failures can be predicted and…

Supervised imitation learning, also known as behavioral cloning, suffers from distribution drift leading to failures during policy execution. One approach to mitigate this issue is to allow an expert to correct the agent's actions during…

This paper addresses the challenges of fault prediction and delayed response in distributed systems by proposing an intelligent prediction method based on temporal feature learning. The method takes multi-dimensional performance metric…

Robots are prone to making errors, which can negatively impact their credibility as teammates during collaborative tasks with human users. Detecting and recovering from these failures is crucial for maintaining effective level of trust from…

Uncertainty in perception, actuation, and the environment often require multiple attempts for a robotic task to be successful. We study a class of problems providing (1) low-entropy indicators of terminal success / failure, and (2)…

Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deployment. In particular, it is important to certify that a…

In recent years, the requirement for real-time understanding of machine behavior has become an important objective in industrial sectors to reduce the cost of unscheduled downtime and to maximize production with expected quality. The vast…

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form…

Imitation learning is a promising paradigm for training robot control policies, but these policies can suffer from distribution shift, where the conditions at evaluation time differ from those in the training data. A popular approach for…

Skill effect models for long-horizon manipulation tasks are prone to failures in conditions not covered by training data distributions. Therefore, enabling robots to reason about and learn from failures is necessary. We investigate the…

Imitation learning offers a promising framework for enabling robots to acquire diverse skills from human users. However, most imitation learning algorithms assume access to high-quality demonstrations an unrealistic expectation when…

Spatial and temporal features are studied with respect to their predictive value for failure time prediction in subcritical failure with machine learning (ML). Data are generated from simulations of a novel, brittle random fuse model (RFM),…

Humans are capable of learning a new behavior by observing others to perform the skill. Similarly, robots can also implement this by imitation learning. Furthermore, if with external guidance, humans can master the new behavior more…

Diffusion policies have shown to be very efficient at learning complex, multi-modal behaviors for robotic manipulation. However, errors in generated action sequences can compound over time which can potentially lead to failure. Some…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…

Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction…

We develop a novel generative model to simulate vehicle health and forecast faults, conditioned on practical operational considerations. The model, trained on data from the US Army's Predictive Logistics program, aims to support predictive…