相关论文: Breaking the Epistemic Trap: Active Perception Und…

In autonomous driving, accurate motion prediction is crucial for safe and efficient motion planning. To ensure safety, planners require reliable uncertainty estimates of the predicted behavior of surrounding agents, yet this aspect has…

Selective prediction systems can mitigate harms resulting from language model hallucinations by abstaining from answering in high-risk cases. Uncertainty quantification techniques are often employed to identify such cases, but are rarely…

Reinforcement Learning (RL) agents deployed in real-world environments face degradation from sensor faults, actuator wear, and environmental shifts, yet lack intrinsic mechanisms to detect and diagnose these failures. We present an…

In recent years, learning-based control in robotics has gained significant attention due to its capability to address complex tasks in real-world environments. With the advances in machine learning algorithms and computational capabilities,…

The quantification of aleatoric and epistemic uncertainty in terms of conditional entropy and mutual information, respectively, has recently become quite common in machine learning. While the properties of these measures, which are rooted…

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…

Despite remarkable achievements in artificial intelligence, the deployability of learning-enabled systems in high-stakes real-world environments still faces persistent challenges. For example, in safety-critical domains like autonomous…

In this paper, we propose SAMBA, a novel framework for safe reinforcement learning that combines aspects from probabilistic modelling, information theory, and statistics. Our method builds upon PILCO to enable active exploration using…

Safety alignment is a key requirement for building reliable Artificial General Intelligence. Despite significant advances in safety alignment, we observe that minor latent shifts can still trigger unsafe responses in aligned models. We…

Reinforcement learning (RL) is a dominant paradigm for training autonomous agents, yet these agents often exhibit poor generalization, failing to adapt to scenarios not seen during training. In this work, we identify a fundamental cause of…

Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…

Foundation models excel in stable environments, yet often fail where reliability matters most: medicine, finance, and policy. This Fidelity Paradox is not just a data problem; it is structural. In domains where rules change over time, extra…

Model-Based Reinforcement Learning distinguishes between physical dynamics models operating on proprioceptive inputs and latent dynamics models operating on high-dimensional image observations. A prominent latent approach is the Recurrent…

Researchers have argued against deficit-based explanations of students' troubles with mathematical sense-making, pointing instead to factors such as epistemology: students' beliefs about the nature of knowledge and learning can hinder them…

Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…

The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems are safety-critical. Safety requirements are often…

Safe deployment of autonomous robots in diverse scenarios requires agents that are capable of efficiently adapting to new environments while satisfying constraints. In this work, we propose a practical and theoretically-justified approach…

The tokamak offers a promising path to fusion energy, but plasma disruptions pose a major economic risk, motivating considerable advances in disruption avoidance. This work develops a reinforcement learning approach to this problem by…

Recently it has been demonstrated that causal entropic forces can lead to the emergence of complex phenomena associated with human cognitive niche such as tool use and social cooperation. Here I show that even more fundamental traits…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…