相关论文: Conformal Risk Control for Safety-Critical Wildfir…

Stochastic Model Predictive Control has proved to be an efficient method to plan trajectories in uncertain environments, e.g., for autonomous vehicles. Chance constraints ensure that the probability of collision is bounded by a predefined…

Quantifying the data uncertainty in learning tasks is often done by learning a prediction interval or prediction set of the label given the input. Two commonly desired properties for learned prediction sets are \emph{valid coverage} and…

In recent years, teams of robot and Unmanned Aerial Vehicles (UAVs) have been commissioned by researchers to enable accurate, online wildfire coverage and tracking. While the majority of prior work focuses on the coordination and control of…

Many rescue missions demand effective perception and real-time decision making, which highly rely on effective data collection and processing. In this study, we propose a three-layer architecture of emergency caching networks focusing on…

We study the problem of safe learning and exploration in sequential control problems. The goal is to safely collect data samples from operating in an environment, in order to learn to achieve a challenging control goal (e.g., an agile…

Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…

Conformal prediction (CP) converts any model's output to prediction sets with a guarantee to cover the true label with (adjustable) high probability. Robust CP extends this guarantee to worst-case (adversarial) inputs. Existing baselines…

Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a trajectory plan that not only navigates these restrictive…

Fire is characterized by its sudden onset and destructive power, making early fire detection crucial for ensuring human safety and protecting property. With the advancement of deep learning, the application of computer vision in fire…

With the advancement of Internet of Things (IoT) technologies, high-precision indoor positioning has become essential for Location-Based Services (LBS) in complex indoor environments. Fingerprint-based localization is popular, but…

Graph Neural Networks (GNNs) have emerged as powerful tools for predicting outcomes in graph-structured data. However, a notable limitation of GNNs is their inability to provide robust uncertainty estimates, which undermines their…

We propose \textbf{Temporal Conformal Prediction (TCP)}, a distribution-free framework for constructing well-calibrated prediction intervals in nonstationary time series. TCP couples a modern quantile forecaster with a rolling…

In recent years, increased wildfires have caused irreversible damage to forest resources worldwide, threatening wildlives and human living conditions. The lack of accurate frontline information in real-time can pose great risks to…

Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…

Selective Classification, wherein models can reject low-confidence predictions, promises reliable translation of machine-learning based classification systems to real-world scenarios such as clinical diagnostics. While current evaluation of…

Forest fires pose a significant threat to ecosystems, economies, and human health worldwide. Early detection and assessment of forest fires are crucial for effective management and conservation efforts. Unmanned Aerial Vehicles (UAVs)…

Conformal Prediction (CP) is a popular method for uncertainty quantification with machine learning models. While conformal prediction provides probabilistic guarantees regarding the coverage of the true label, these guarantees are agnostic…

Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…

Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…

Convolutional image classifiers can achieve high predictive accuracy, but quantifying their uncertainty remains an unresolved challenge, hindering their deployment in consequential settings. Existing uncertainty quantification techniques,…