Giving autonomous agents the ability to forecast their own outcomes and uncertainty will allow them to communicate their competencies and be used more safely. We accomplish this by using a learned world model of the agent system to forecast full agent trajectories over long time horizons. Real world systems involve significant sources of both aleatoric and epistemic uncertainty that compound and interact over time in the trajectory forecasts. We develop a deep generative world model that quantifies aleatoric uncertainty while incorporating the effects of epistemic uncertainty during the learning process. We show on two reinforcement learning problems that our uncertainty model produces calibrated outcome uncertainty estimates over the full trajectory horizon.

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching images taken from a ground-view camera to overhead images taken from satellites or aircraft. Although the viewpoint disparity between ground and overhead images makes crossview geolocalization challenging, significant progress has been made assuming that the ground agent has access to a panoramic camera. For example, our prior work (WAG) introduced changes in search area discretization, training loss, and particle filter weighting that enabled city-scale panoramic cross-view geolocalization. However, panoramic cameras are not widely used in existing robotic platforms due to their complexity and cost. Non-panoramic cross-view geolocalization is more applicable for robotics, but is also more challenging. This paper presents Restricted FOV Wide-Area Geolocalization (ReWAG), a cross-view geolocalization approach that generalizes WAG for use with standard, non-panoramic ground cameras by creating pose-aware embeddings and providing a strategy to incorporate particle pose into the Siamese network. ReWAG is a neural network and particle filter system that is able to globally localize a mobile agent in a GPS-denied environment with only odometry and a 90° FOV camera, achieving similar localization accuracy as what WAG achieved with a panoramic camera and improving localization accuracy by a factor of 100 compared to a baseline vision transformer (ViT) approach.

For autonomous agents to act as trustworthy partners to human users, they must be able to reliably communicate their competency for the tasks they are asked to perform. Towards this objective, we develop probabilistic world models based on deep generative modelling that allow for the simulation of agent trajectories and accurate calculation of tasking outcome probabilities. By combining the strengths of conditional variational autoencoders with recurrent neural networks, the deep generative world model can probabilistically forecast trajectories over long horizons to task completion. We show how these forecasted trajectories can be used to calculate outcome probability distributions, which enable the precise assessment of agent competency for specific tasks and initial settings.

Deep learning has the potential to dramatically impact navigation and tracking state estimation problems critical to autonomous vehicles and robotics. Measurement uncertainties in state estimation systems based on Kalman and other Bayes filters are typically assumed to be a fixed covariance matrix. This assumption is risky, particularly for "black box" deep learning models, in which uncertainty can vary dramatically and unexpectedly. Accurate quantification of multivariate uncertainty will allow for the full potential of deep learning to be used more safely and reliably in these applications. We show how to model multivariate uncertainty for regression problems with neural networks, incorporating both aleatoric and epistemic sources of heteroscedastic uncertainty. We train a deep uncertainty covariance matrix model in two ways: directly using a multivariate Gaussian density loss function and indirectly using end-to-end training through a Kalman filter. We experimentally show in a visual tracking problem the large impact that accurate multivariate uncertainty quantification can have on the Kalman filter performance for both in-domain and out-of-domain evaluation data. We additionally show, in a challenging visual odometry problem, how end-to-end filter training can allow uncertainty predictions to compensate for filter weaknesses.

We introduce a new computer aided detection and diagnosis system for lung cancer screening with low-dose CT scans that produces meaningful probability assessments. Our system is based entirely on 3D convolutional neural networks and achieves state-of-the-art performance for both lung nodule detection and malignancy classification tasks on the publicly available LUNA16 and Kaggle Data Science Bowl challenges. While nodule detection systems are typically designed and optimized on their own, we find that it is important to consider the coupling between detection and diagnosis components. Exploiting this coupling allows us to develop an end-to-end system that has higher and more robust performance and eliminates the need for a nodule detection false positive reduction stage. Furthermore, we characterize model uncertainty in our deep learning systems, a first for lung CT analysis, and show that we can use this to provide well-calibrated classification probabilities for both nodule detection and patient malignancy diagnosis. These calibrated probabilities informed by model uncertainty can be used for subsequent risk-based decision making towards diagnostic interventions or disease treatments, as we demonstrate using a probability-based patient referral strategy to further improve our results.

Increasing numbers of software vulnerabilities are discovered every year whether they are reported publicly or discovered internally in proprietary code. These vulnerabilities can pose serious risk of exploit and result in system compromise, information leaks, or denial of service. We leveraged the wealth of C and C++ open-source code available to develop a largescale function-level vulnerability detection system using machine learning. To supplement existing labeled vulnerability datasets, we compiled a vast dataset of millions of open-source functions and labeled it with carefully-selected findings from three different static analyzers that indicate potential exploits. Using these datasets, we developed a fast and scalable vulnerability detection tool based on deep feature representation learning that directly interprets lexed source code. We evaluated our tool on code from both real software packages and the NIST SATE IV benchmark dataset. Our results demonstrate that deep feature representation learning on source code is a promising approach for automated software vulnerability detection.

In this work, we introduce pose interpreter networks for 6-DoF object pose estimation. In contrast to other CNN-based approaches to pose estimation that require expensively annotated object pose data, our pose interpreter network is trained entirely on synthetic pose data. We use object masks as an intermediate representation to bridge real and synthetic. We show that when combined with a segmentation model trained on RGB images, our synthetically trained pose interpreter network is able to generalize to real data. Our end-to-end system for object pose estimation runs in real-time (20 Hz) on live RGB data, without using depth information or ICP refinement.

Motivated by the problem of automated repair of software vulnerabilities, we propose an adversarial learning approach that maps from one discrete source domain to another target domain without requiring paired labeled examples or source and target domains to be bijections. We demonstrate that the proposed adversarial learning approach is an effective technique for repairing software vulnerabilities, performing close to seq2seq approaches that require labeled pairs. The proposed Generative Adversarial Network approach is application-agnostic in that it can be applied to other problems similar to code repair, such as grammar correction or sentiment translation.