Reinforcement learning algorithms typically necessitate extensive exploration of the state space to find optimal policies. However, in safety-critical applications, the risks associated with such exploration can lead to catastrophic consequences. Existing safe exploration methods attempt to mitigate this by imposing constraints, which often result in overly conservative behaviours and inefficient learning. Heavy penalties for early constraint violations can trap agents in local optima, deterring exploration of risky yet high-reward regions of the state space. To address this, we introduce a method that explicitly learns state-conditioned safety representations. By augmenting the state features with these safety representations, our approach naturally encourages safer exploration without being excessively cautious, resulting in more efficient and safer policy learning in safety-critical scenarios. Empirical evaluations across diverse environments show that our method significantly improves task performance while reducing constraint violations during training, underscoring its effectiveness in balancing exploration with safety.

While modern deep neural networks are performant perception modules, performance (accuracy) alone is insufficient, particularly for safety-critical robotic applications such as self-driving vehicles. Robot autonomy stacks also require these otherwise blackbox models to produce reliable and calibrated measures of confidence on their predictions. Existing approaches estimate uncertainty from these neural network perception stacks by modifying network architectures, inference procedure, or loss functions. However, in general, these methods lack calibration, meaning that the predictive uncertainties do not faithfully represent the true underlying uncertainties (process noise). Our key insight is that calibration is only achieved by imposing constraints across multiple examples, such as those in a mini-batch; as opposed to existing approaches which only impose constraints per-sample, often leading to overconfident (thus miscalibrated) uncertainty estimates. By enforcing the distribution of outputs of a neural network to resemble a target distribution by minimizing an$f$-divergence, we obtain significantly better-calibrated models compared to prior approaches. Our approach, f-Cal, outperforms existing uncertainty calibration approaches on robot perception tasks such as object detection and monocular depth estimation over multiple real-world benchmarks.

Given an image or a video captured from a monocular camera, amodal layout estimation is the task of predicting semantics and occupancy in bird's eye view. The term amodal implies we also reason about entities in the scene that are occluded or truncated in image space. While several recent efforts have tackled this problem, there is a lack of standardization in task specification, datasets, and evaluation protocols. We address these gaps with AutoLay, a dataset and benchmark for amodal layout estimation from monocular images. AutoLay encompasses driving imagery from two popular datasets: KITTI [1] and Argoverse [2]. In addition to fine-grained attributes such as lanes, sidewalks, and vehicles, we also provide semantically annotated 3D point clouds. We implement several baselines and bleeding edge approaches, and release our data and code.1.

In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's eye view layout of the road and other traffic participants. The estimated layout should reason beyond what is visible in the image, and compensate for the loss of 3D information due to projection. We dub this problem amodal scene layout estimation, which involves hallucinating scene layout for even parts of the world that are occluded in the image. To this end, we present MonoLayout, a deep neural network for realtime amodal scene layout estimation from a single image. We represent scene layout as a multi-channel semantic occupancy grid, and leverage adversarial feature learning to hallucinate " plausible completions for occluded image parts. We extend several state-of-the-art approaches for road-layout estimation and vehicle occupancy estimation in bird's eye view to the amodal setup and thoroughly evaluate against them. By leveraging temporal sensor fusion to generate training labels, we significantly outperform current art over a number of datasets.

As the number of documents on the web is growing exponentially, multi-document summarization is becoming more and more important since it can provide the main ideas in a document set in short time. In this paper, we present an unsupervised centroid-based document-level reconstruction framework using distributed bag of words model. Specifically, our approach selects summary sentences in order to minimize the reconstruction error between the summary and the documents. We apply sentence selection and beam search, to further improve the performance of our model. Experimental results on two different datasets show significant performance gains compared with the state-of-the-art baselines.

Deep learning based land cover classification algorithms have recently been proposed in the literature. In hyperspectral images (HSIs), they face the challenges of large dimensionality, spatial variability of spectral signatures, and scarcity of labeled data. In this paper, we propose an end-to-end deep learning architecture that extracts band specific spectral-spatial features and performs land cover classification. The architecture has fewer independent connection weights and thus requires fewer training samples. The method is found to outperform the highest reported accuracies on popular HSI data sets.