相关论文: RC-NF: Robot-Conditioned Normalizing Flow for Real…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for robotic manipulation by leveraging pre-trained vision-language representations. However, current VLA training methods suffer from two critical limitations: poor…

The rapid development of autonomous vehicles (AVs) holds vast potential for transportation systems through improved safety, efficiency, and access to mobility. However, the progression of these impacts, as AVs are adopted, is not well…

Reinforcement learning (RL) excels in applications such as video games, but ensuring safety as well as the ability to achieve the specified goals remains challenging when using RL for real-world problems, such as human-aligned tasks where…

In real-world applications, we often require reliable decision making under dynamics uncertainties using noisy high-dimensional sensory data. Recently, we have seen an increasing number of learning-based control algorithms developed to…

Software log analysis can be laborious and time consuming. Time and labeled data are usually lacking in industrial settings. This paper studies unsupervised and time efficient methods for anomaly detection. We study two custom and two…

Anomaly detection in complex industrial environments poses unique challenges, particularly in contexts characterized by data sparsity and evolving operational conditions. Predictive maintenance (PdM) in such settings demands methodologies…

Anomaly detection is the task of detecting data which differs from the normal behaviour of a system in a given context. In order to approach this problem, data-driven models can be learned to predict current or future observations.…

Normalizing flow-based sampling methods have been successful in tackling computational challenges traditionally associated with simulating lattice quantum field theories. Further works have incorporated gauge and translational invariance of…

We address the problem of anomaly detection, that is, detecting anomalous events in a video sequence. Anomaly detection methods based on convolutional neural networks (CNNs) typically leverage proxy tasks, such as reconstructing input video…

We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…

Flow models have rapidly become the go-to method for training and deploying large-scale generators, owing their success to inference-time flexibility via adjustable integration steps. A crucial ingredient in flow training is the choice of…

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…

With the increasing presence of robots in our every-day environments, improving their social skills is of utmost importance. Nonetheless, social robotics still faces many challenges. One bottleneck is that robotic behaviors need to be often…

A Normalizing Flow computes a bijective mapping from an arbitrary distribution to a predefined (e.g. normal) distribution. Such a flow can be used to address different tasks, e.g. anomaly detection, once such a mapping has been learned. In…

The random vector functional link (RVFL) network is well-regarded for its strong generalization capabilities in the field of machine learning. However, its inherent dependencies on the square loss function make it susceptible to noise and…

Measurements acquired from distributed physical systems are often sparse and noisy. Therefore, signal processing and system identification tools are required to mitigate noise effects and reconstruct unobserved dynamics from limited sensor…

The interest in using reinforcement learning (RL) controllers in safety-critical applications such as robot navigation around pedestrians motivates the development of additional safety mechanisms. Running RL-enabled systems among uncertain…

Detecting anomalies in large, distributed systems presents several challenges. The first challenge arises from the sheer volume of data that needs to be processed. Flagging anomalies in a high-throughput environment calls for a careful…

Deep generative models for anomaly detection in multivariate time-series are typically trained by maximizing data likelihood. However, likelihood in observation space measures marginal density rather than conformity to structured temporal…

Recent efforts towards video anomaly detection (VAD) try to learn a deep autoencoder to describe normal event patterns with small reconstruction errors. The video inputs with large reconstruction errors are regarded as anomalies at the test…