{"id":"https://openalex.org/W4391020272","doi":"https://doi.org/10.1109/cdc49753.2023.10383566","title":"Out of Distribution Detection via Domain-Informed Gaussian Process State Space Models","display_name":"Out of Distribution Detection via Domain-Informed Gaussian Process State Space Models","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391020272","doi":"https://doi.org/10.1109/cdc49753.2023.10383566"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10383566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5014762489","display_name":"Alonso Marco","orcid":"https://orcid.org/0000-0002-5764-6713"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alonso Marco","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA,94720"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113099684","display_name":"E. Morley","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elias Morley","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA,94720"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA,94720"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.2178,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50371309,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5487","last_page":"5493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9997000098228455,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9520999789237976,"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/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9483000040054321,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/computer-science","display_name":"Computer science","score":0.7274083495140076},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.6732921600341797},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.6645115613937378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6371613144874573},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.6217790842056274},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.580030083656311},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5507378578186035},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5029539465904236},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.45220494270324707},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.42721840739250183},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.41015997529029846},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.39770081639289856},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16296616196632385},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11577364802360535}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7274083495140076},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6732921600341797},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.6645115613937378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6371613144874573},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.6217790842056274},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.580030083656311},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5507378578186035},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5029539465904236},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.45220494270324707},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.42721840739250183},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.41015997529029846},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.39770081639289856},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16296616196632385},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11577364802360535},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc49753.2023.10383566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W1665378886","https://openalex.org/W2143880780","https://openalex.org/W2144902422","https://openalex.org/W2147139943","https://openalex.org/W2154575165","https://openalex.org/W2237183164","https://openalex.org/W2410617946","https://openalex.org/W2758399700","https://openalex.org/W2880842812","https://openalex.org/W2893995718","https://openalex.org/W2950924736","https://openalex.org/W2963779771","https://openalex.org/W2974922583","https://openalex.org/W3023104975","https://openalex.org/W3048435052","https://openalex.org/W3103364054","https://openalex.org/W3104183683","https://openalex.org/W3104531771","https://openalex.org/W3110140626","https://openalex.org/W3124295129","https://openalex.org/W3133280296","https://openalex.org/W3173974052","https://openalex.org/W3176197869","https://openalex.org/W3202101816","https://openalex.org/W3205597769","https://openalex.org/W3209445167","https://openalex.org/W4211049957","https://openalex.org/W4224912544","https://openalex.org/W4247804987","https://openalex.org/W4283787279","https://openalex.org/W4287101833","https://openalex.org/W4294635653","https://openalex.org/W4297780621","https://openalex.org/W4300293005","https://openalex.org/W4311443220","https://openalex.org/W4313304456","https://openalex.org/W4321392408","https://openalex.org/W4382935714","https://openalex.org/W4385473486","https://openalex.org/W4386072109","https://openalex.org/W6681302627","https://openalex.org/W6681573792","https://openalex.org/W6682906688","https://openalex.org/W6688441079","https://openalex.org/W6729760243","https://openalex.org/W6738111301","https://openalex.org/W6753263680","https://openalex.org/W6755463424","https://openalex.org/W6762424713","https://openalex.org/W6770415863","https://openalex.org/W6779827379","https://openalex.org/W6786338897","https://openalex.org/W6796957552","https://openalex.org/W6798100867","https://openalex.org/W6799251317","https://openalex.org/W6802647179","https://openalex.org/W6848655625","https://openalex.org/W6850318412","https://openalex.org/W6854738657"],"related_works":["https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4293503520","https://openalex.org/W4300066510","https://openalex.org/W2056958800","https://openalex.org/W2803685231","https://openalex.org/W3134152097","https://openalex.org/W4311388919","https://openalex.org/W2966696655","https://openalex.org/W1964286703"],"abstract_inverted_index":{"In":[0,76],"order":[1],"for":[2,45],"robots":[3],"to":[4,16,32,48,85,140],"safely":[5],"navigate":[6],"in":[7,90,108,116],"unseen":[8,164],"scenarios":[9],"using":[10,120],"learning-based":[11],"methods,":[12],"it":[13],"is":[14,106],"important":[15],"accurately":[17],"detect":[18],"out-of-training-distribution":[19],"(OoD)":[20],"situations":[21],"online.":[22],"Recently,":[23],"Gaussian":[24],"process":[25],"state-space":[26],"models":[27],"(GPSSMs)":[28],"have":[29],"proven":[30],"useful":[31],"discriminate":[33],"unexpected":[34],"observations":[35,56],"by":[36,66,119],"comparing":[37],"them":[38],"against":[39],"probabilistic":[40],"predictions.":[41,103],"However,":[42],"the":[43,46,59,67,71,91,109,128,146,149],"capability":[44],"model":[47],"correctly":[49],"distinguish":[50],"between":[51],"in-":[52],"and":[53,93],"out-of-training":[54],"distribution":[55],"hinges":[57],"on":[58,101,152],"accuracy":[60],"of":[61,69,111,148],"these":[62],"predictions,":[63],"primarily":[64],"affected":[65],"class":[68],"functions":[70],"GPSSM":[72],"kernel":[73,92,130,142],"can":[74],"represent.":[75],"this":[77],"paper,":[78],"we":[79],"propose":[80],"(i)":[81],"a":[82,112,121,153],"novel":[83],"approach":[84],"embed":[86],"existing":[87],"domain":[88],"knowledge":[89,105],"(ii)":[94],"an":[95,157],"OoD":[96,150],"online":[97],"runtime":[98],"monitor,":[99],"based":[100],"receding-horizon":[102],"Domain":[104],"provided":[107],"form":[110],"dataset,":[113],"collected":[114],"either":[115],"simulation":[117],"or":[118],"nominal":[122],"model.":[123],"Numerical":[124],"results":[125],"show":[126],"that":[127],"informed":[129],"yields":[131],"better":[132],"regression":[133],"quality":[134],"with":[135],"smaller":[136],"datasets,":[137],"as":[138],"compared":[139],"standard":[141],"choices.":[143],"We":[144],"demonstrate":[145],"effectiveness":[147],"monitor":[151],"real":[154],"quadruped":[155],"navigating":[156],"indoor":[158],"setting,":[159],"which":[160],"reliably":[161],"classifies":[162],"previously":[163],"terrains.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
