{"id":"https://openalex.org/W4403676486","doi":"https://doi.org/10.1109/case59546.2024.10711844","title":"Embodied Runtime Monitoring of Learning-enabled Robot Perception Components","display_name":"Embodied Runtime Monitoring of Learning-enabled Robot Perception Components","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4403676486","doi":"https://doi.org/10.1109/case59546.2024.10711844"},"language":"en","primary_location":{"id":"doi:10.1109/case59546.2024.10711844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030468006","display_name":"Deebul Nair","orcid":null},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Deebul Nair","raw_affiliation_strings":["Institute for Artificial Intelligence and Autonomous Systems, Bonn-Rhein-Sieg University of Applied Sciences,Sankt Augustin,Germany,53757"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Artificial Intelligence and Autonomous Systems, Bonn-Rhein-Sieg University of Applied Sciences,Sankt Augustin,Germany,53757","institution_ids":["https://openalex.org/I155417937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114372419","display_name":"Sathwik Panchangam","orcid":null},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sathwik Panchangam","raw_affiliation_strings":["Institute for Artificial Intelligence and Autonomous Systems, Bonn-Rhein-Sieg University of Applied Sciences,Sankt Augustin,Germany,53757"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Artificial Intelligence and Autonomous Systems, Bonn-Rhein-Sieg University of Applied Sciences,Sankt Augustin,Germany,53757","institution_ids":["https://openalex.org/I155417937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085280731","display_name":"Miguel A. Olivares-M\u00e9ndez","orcid":"https://orcid.org/0000-0001-8824-3231"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Miguel A. Olivares-Mendez","raw_affiliation_strings":["University of Luxembourg,Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT),Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Luxembourg,Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT),Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075287635","display_name":"Nico Hochgeschwender","orcid":"https://orcid.org/0000-0003-1306-7880"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nico Hochgeschwender","raw_affiliation_strings":["University of Bremen,Department of Mathematics and Computer Science,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bremen,Department of Mathematics and Computer Science,Germany","institution_ids":["https://openalex.org/I180437899"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20332677,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2983","last_page":"2989"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9438999891281128,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9438999891281128,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9351000189781189,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9196000099182129,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.8276969194412231},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6858623027801514},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6381396651268005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6021223664283752},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5996041893959045},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4129788279533386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34393608570098877},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1963723599910736},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.14889347553253174},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.10603871941566467}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8276969194412231},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6858623027801514},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6381396651268005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6021223664283752},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5996041893959045},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4129788279533386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34393608570098877},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1963723599910736},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.14889347553253174},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.10603871941566467}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case59546.2024.10711844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:pub.h-brs.de:8664","is_oa":false,"landing_page_url":"https://pub.h-brs.de/frontdoor/index/index/docId/8664","pdf_url":null,"source":{"id":"https://openalex.org/S4306400385","display_name":"Publication Server of Bonn-Rhein-Sieg University of Applied Sciences (Bonn-Rhein-Sieg University of Applied Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I135140700","host_organization_name":"University of Bonn","host_organization_lineage":["https://openalex.org/I135140700"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 28 August 2024 - 01 September 2024, Bari, Italy","raw_type":"doc-type:conferenceobject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1173687456","https://openalex.org/W1505952289","https://openalex.org/W2138916466","https://openalex.org/W2194775991","https://openalex.org/W2527986372","https://openalex.org/W2605102758","https://openalex.org/W2901572527","https://openalex.org/W2926809789","https://openalex.org/W2964059111","https://openalex.org/W2964268161","https://openalex.org/W2970758603","https://openalex.org/W2988018738","https://openalex.org/W3027787227","https://openalex.org/W3045988483","https://openalex.org/W3047844381","https://openalex.org/W3080460343","https://openalex.org/W3081898445","https://openalex.org/W3089426421","https://openalex.org/W3090783201","https://openalex.org/W3109937781","https://openalex.org/W3115262692","https://openalex.org/W3118738952","https://openalex.org/W3149839747","https://openalex.org/W3183048323","https://openalex.org/W4224938351","https://openalex.org/W4281705700","https://openalex.org/W4307940854","https://openalex.org/W4310440529","https://openalex.org/W4318966501","https://openalex.org/W4386373863","https://openalex.org/W6730042731","https://openalex.org/W6752745768","https://openalex.org/W6775305568","https://openalex.org/W6787500176"],"related_works":["https://openalex.org/W2380179524","https://openalex.org/W4283365723","https://openalex.org/W2963001125","https://openalex.org/W2091233881","https://openalex.org/W2352366064","https://openalex.org/W4250820896","https://openalex.org/W2124102101","https://openalex.org/W2005500833","https://openalex.org/W2333449417","https://openalex.org/W2913184176"],"abstract_inverted_index":{"Monitoring":[0],"during":[1],"runtime,":[2],"the":[3,29,37,80,84,142,147,163,179,195],"estimated":[4],"uncertainty":[5,24,121,144],"from":[6,194],"learning-enabled":[7,71],"robot":[8,124],"perception":[9,38,159],"components,":[10],"is":[11],"a":[12,112,128,139,171],"vital":[13],"tool":[14],"for":[15,141,177],"assuring":[16],"and":[17,33,61,65],"evaluating":[18],"model":[19,39,132,183],"correctness.":[20],"By":[21,126],"utilizing":[22],"different":[23],"estimation":[25],"methods,":[26],"monitors":[27,69,94],"exploit":[28],"perceived":[30],"sensor":[31],"data":[32,188],"predictions":[34],"generated":[35],"by":[36,78],"to":[40,90,105,118,155],"make":[41],"informed":[42,51],"decisions,":[43],"such":[44],"as":[45],"in":[46],"safety-critical":[47],"situations.":[48],"In":[49],"robotics,":[50],"decisions":[52],"should":[53],"be":[54,74,152],"aligned":[55],"with":[56,95,123,146],"embodied":[57],"information":[58,82,97,149,191],"regarding":[59],"space":[60],"time.":[62],"We":[63,161],"argue":[64],"show":[66],"that":[67,114,150],"runtime":[68,93,130,180],"of":[70,83,167,192],"components":[72],"can":[73,151],"made":[75],"more":[76],"robust":[77],"including":[79],"embodiment":[81,96,148,190],"robot.":[85],"However,":[86],"it":[87],"remains":[88],"challenging":[89],"build":[91],"uncertainty-based":[92],"using":[98,186],"only":[99],"real-world":[100,157],"datasets,":[101,136],"which":[102,178],"are":[103],"tedious":[104],"collect.":[106],"To":[107],"this":[108],"end,":[109],"we":[110,137],"propose":[111],"solution":[113],"leverages":[115],"simulation-based":[116,187],"datasets":[117],"characterize":[119],"expected":[120,143],"estimates":[122],"embodiment.":[125],"constructing":[127],"nominal":[129],"monitor":[131,156,181],"based":[133],"on":[134,170],"simulated":[135],"establish":[138],"reference":[140],"along":[145],"subsequently":[153],"used":[154],"deployed":[158],"components.":[160],"demonstrate":[162],"zero-shot":[164],"sim-to-real":[165],"transfer":[166],"our":[168],"approach":[169],"Kinova":[172],"Gen3":[173],"manipulator":[174],"picking":[175],"task,":[176],"reliability":[182],"was":[184],"trained":[185],"containing":[189],"distance":[193],"object":[196],"being":[197],"selected.":[198]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
