相关论文: The SLAM Confidence Trap

Machine learning (ML) has recently created many new success stories. Hence, there is a strong motivation to use ML technology in software-intensive systems, including safety-critical systems. This raises the issue of safety verification of…

This paper studies a novel stochastic compartmental model that describes the dynamics of trust in society. The population is split into three compartments representing levels of trust in society: trusters, skeptics and doubters. The focus…

Large Language Models (LLMs) are increasingly consulted for high-stakes life advice, yet they lack standard safeguards against providing confident but misguided responses. This creates risks of sycophancy and over-confidence. This paper…

High-confidence errors in large language models are often treated as fragile failures. We study an alternative: some errors may be false fixed points, locally stable, internally coherent, and confidently wrong. This separates robustness…

A probabilistic model is said to be calibrated if its predicted probabilities match the corresponding empirical frequencies. Calibration is important for uncertainty quantification and decision making in safety-critical applications. While…

In the era of increasingly complex AI models for time series forecasting, progress is often measured by marginal improvements on benchmark leaderboards. However, this approach suffers from a fundamental flaw: standard evaluation metrics…

Regardless of the tremendous progress, a truly general purpose pipeline for Simultaneous Localization and Mapping (SLAM) remains a challenge. We investigate the reported failure of state of the art (SOTA) SLAM techniques on egocentric…

Modern distributed systems rely on consensus protocols to build a fault-tolerant-core upon which they can build applications. Consensus protocols are correct under a specific failure model, where up to $f$ machines can fail. We argue that…

Although Simultaneous Localization and Mapping (SLAM) has been an active research topic for decades, current state-of-the-art methods still suffer from instability or inaccuracy due to feature insufficiency or its inherent estimation drift,…

Uncertainties influencing the dynamical systems pose a significant challenge in estimating the achievable performance of a controller aiming to control such uncertain systems. When the uncertainties are of stochastic nature, obtaining hard…

Uncertainty defines our age: it shapes climate, finance, technology, and society, yet remains profoundly misunderstood. We oscillate between the illusion of control and the paralysis of fatalism. This paper reframes uncertainty not as…

Prompt optimization algorithms for Large Language Models (LLMs) excel in multi-step reasoning but still lack effective uncertainty estimation. This paper introduces a benchmark dataset to evaluate uncertainty metrics, focusing on Answer,…

Uncertainty quantification is a set of techniques that measure confidence in language models. They can be used, for example, to detect hallucinations or alert users to review uncertain predictions. To be useful, these confidence scores must…

CLIP delivers strong zero-shot classification but remains highly vulnerable to adversarial attacks. Previous work of adversarial fine-tuning largely focuses on matching the predicted logits between clean and adversarial examples, which…

We study masked implementation's security when an adversary randomly probes each of its internal variables, intending to recover non-trivial knowledge about its secrets. We introduce a novel metric called Secret Recovery Probability (SRP)…

Conformal prediction is a statistically rigorous method for quantifying uncertainty in models by having them output sets of predictions, with larger sets indicating more uncertainty. However, prediction sets are not inherently actionable;…

Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…

Object-level Simultaneous Localization and Mapping (SLAM), which incorporates semantic information for high-level scene understanding, faces challenges of under-constrained optimization due to sparse observations. Prior work has introduced…

The safety alignment of large language models (LLMs) remains vulnerable, as their initial behavior can be easily jailbroken by even relatively simple attacks. Since infilling a fixed template between the input instruction and initial model…

Large language models (LLMs) can fluently generate student-like responses, making them attractive as simulated students for training and evaluating AI tutors and human educators. Yet such simulators are typically evaluated by output…