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

Deploying learned control policies on humanoid robots is challenging: policies that appear robust in simulation can execute confidently in out-of-distribution (OOD) states after Sim-to-Real transfer, leading to silent failures that risk…

Safe deployment of AI models requires proactive detection of failures to prevent costly errors. To this end, we study the important problem of detecting failures in deep regression models. Existing approaches rely on epistemic uncertainty…

We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by…

Imitation learning (IL) has proven effective across a wide range of manipulation tasks. However, IL policies often struggle when faced with out-of-distribution observations; for instance, when the target object is in a previously unseen…

Deep learning provides a powerful tool for machine perception when the observations resemble the training data. However, real-world robotic systems must react intelligently to their observations even in unexpected circumstances. This…

In recent years, imitation learning (IL) has been widely used in industry as the core of autonomous vehicle (AV) planning modules. However, previous IL works show sample inefficiency and low generalisation in safety-critical scenarios, on…

Industrial prognostics focuses on utilizing degradation signals to forecast and continually update the residual useful life of complex engineering systems. However, existing prognostic models for systems with multiple failure modes face…

Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…

Reliable confidence estimation is a challenging yet fundamental requirement in many risk-sensitive applications. However, modern deep neural networks are often overconfident for their incorrect predictions, i.e., misclassified samples from…

Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge…

Diffusion models have demonstrated remarkable capabilities in generating high-quality samples and enhancing performance across diverse domains through Classifier-Free Guidance (CFG). However, the quality of generated samples is highly…

Diffusion models and flow matching have become a cornerstone of robotic imitation learning, yet they suffer from a structural inefficiency where inference is often bound to a fixed integration schedule that is agnostic to state complexity.…

For legged robots to operate in complex terrains, they must be robust to the disturbances and uncertainties they encounter. This paper contributes to enhancing robustness through the design of fall detection/prediction algorithms that will…

Trajectory prediction plays a vital role in automotive radar systems, facilitating precise tracking and decision-making in autonomous driving. Generative adversarial networks with the ability to learn a distribution over future trajectories…

With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…

Imitation Learning presents a promising approach for learning generalizable and complex robotic skills. The recently proposed Diffusion Policy generates robot action sequences through a conditional denoising diffusion process, achieving…

Human-supervision in multi-agent teams is a critical requirement to ensure that the decision-maker's risk preferences are utilized to assign tasks to robots. In stressful complex missions that pose risk to human health and life, such as…

Modern deep generative models can assign high likelihood to inputs drawn from outside the training distribution, posing threats to models in open-world deployments. While much research attention has been placed on defining new test-time…

Post-training of flow matching models-aligning the output distribution with a high-quality target-is mathematically equivalent to imitation learning. While Supervised Fine-Tuning mimics expert demonstrations effectively, it cannot correct…

Before autonomous systems can be deployed in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world testing is prohibitive, we propose a…