8 papers
Localized Conformal Safety Monitoring with Vision-Language Models for Autonomous Driving
Luís Marques, Rong Fang, Disha Kamale +1
Monitoring planned driving trajectories requires accurately estimating the collision likelihood with actors whose motion is itself impacted by the ego motion. Existing classical ap…
Particle-Based Conformal Prediction for Contact-Aware Uncertainty Calibration in Stratified Configuration Spaces
Luís Marques, Kristian Popov, Dmitry Berenson
Reliable uncertainty representation is essential for deploying autonomous systems that interact with their environment, as robots must reason about how uncertainty arising from bot…
Local Conformal Calibration of Dynamics Uncertainty from Semantic Images
Luís Marques, Dmitry Berenson
We introduce Observation-aware Conformal Uncertainty Local-Calibration (OCULAR), a conformal prediction-based algorithm that uses perception information to provide uncertainty quan…
Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie groups
Luís Marques, Maani Ghaffari, Dmitry Berenson
We propose Conformal Lie-group Action Prediction Sets (CLAPS), a symmetry-aware conformal prediction-based algorithm that constructs, for a given action, a set guaranteed to contai…
Quantifying Aleatoric and Epistemic Dynamics Uncertainty via Local Conformal Calibration
Luís Marques, Dmitry Berenson
Whether learned, simulated, or analytical, approximations of a robot's dynamics can be inaccurate when encountering novel environments. Many approaches have been proposed to quanti…
Probabilistic Planning for Maritime Search and Rescue
Luís Marques, Jose Javier Escribano Macias, Panagiotis Angeloudis
Maritime accidents cause thousands of disappearances every year, with migrant crossings being particularly dangerous and under-reported. Current coastal and NGO search and rescue s…
Safe and Efficient Manoeuvring for Emergency Vehicles in Autonomous Traffic using Multi-Agent Proximal Policy Optimisation
Leandro Parada, Eduardo Candela, Luis Marques +1
Manoeuvring in the presence of emergency vehicles is still a major issue for vehicle autonomy systems. Most studies that address this topic are based on rule-based methods, which c…
Transferring Multi-Agent Reinforcement Learning Policies for Autonomous Driving using Sim-to-Real
Eduardo Candela, Leandro Parada, Luis Marques +3
Autonomous Driving requires high levels of coordination and collaboration between agents. Achieving effective coordination in multi-agent systems is a difficult task that remains l…