{"id":"https://openalex.org/W4401417208","doi":"https://doi.org/10.1109/icra57147.2024.10611397","title":"Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers","display_name":"Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417208","doi":"https://doi.org/10.1109/icra57147.2024.10611397"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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/A5021027406","display_name":"Aryaman Gupta","orcid":"https://orcid.org/0000-0001-6842-3315"},"institutions":[{"id":"https://openalex.org/I91357014","display_name":"Banaras Hindu University","ror":"https://ror.org/04cdn2797","country_code":"IN","type":"education","lineage":["https://openalex.org/I91357014"]},{"id":"https://openalex.org/I56404289","display_name":"Indian Institute of Technology BHU","ror":"https://ror.org/01kh5gc44","country_code":"IN","type":"education","lineage":["https://openalex.org/I56404289"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Aryaman Gupta","raw_affiliation_strings":["Indian Institute of Technology (BHU),ECE Department,Varanasi"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology (BHU),ECE Department,Varanasi","institution_ids":["https://openalex.org/I56404289","https://openalex.org/I91357014"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010212783","display_name":"Kaustav Chakraborty","orcid":"https://orcid.org/0000-0002-6842-6193"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaustav Chakraborty","raw_affiliation_strings":["University of Southern California,ECE Department"],"affiliations":[{"raw_affiliation_string":"University of Southern California,ECE Department","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059176959","display_name":"Somil Bansal","orcid":"https://orcid.org/0000-0002-5826-7686"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Somil Bansal","raw_affiliation_strings":["University of Southern California,ECE Department"],"affiliations":[{"raw_affiliation_string":"University of Southern California,ECE Department","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021027406"],"corresponding_institution_ids":["https://openalex.org/I56404289","https://openalex.org/I91357014"],"apc_list":null,"apc_paid":null,"fwci":1.0878,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.80883947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9953","last_page":"9959"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9914000034332275,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9914000034332275,"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9768999814987183,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10876","display_name":"Fault Detection and Control Systems","score":0.975600004196167,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6018093228340149},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5388159155845642},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48017850518226624}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6018093228340149},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5388159155845642},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48017850518226624}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1489501223","https://openalex.org/W1991671938","https://openalex.org/W2116364955","https://openalex.org/W2605102758","https://openalex.org/W2612690371","https://openalex.org/W2896680395","https://openalex.org/W2914584698","https://openalex.org/W2964040381","https://openalex.org/W3089028909","https://openalex.org/W3118738952","https://openalex.org/W3129166376","https://openalex.org/W3176726067","https://openalex.org/W3188960136","https://openalex.org/W3214220452","https://openalex.org/W4212774754","https://openalex.org/W4213452319","https://openalex.org/W4313304456","https://openalex.org/W4327808103","https://openalex.org/W4386285856","https://openalex.org/W4399929809","https://openalex.org/W6606935068","https://openalex.org/W6617145748","https://openalex.org/W6628912134","https://openalex.org/W6730042731","https://openalex.org/W6762718338","https://openalex.org/W6768698167","https://openalex.org/W6785204396","https://openalex.org/W6791085984","https://openalex.org/W6802941974","https://openalex.org/W6848655625"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Autonomous":[0],"systems,":[1],"such":[2,69,180],"as":[3,181],"self-driving":[4],"cars":[5],"and":[6,19,24,52,67,85,120,174,185,192],"drones,":[7],"have":[8],"made":[9],"significant":[10],"strides":[11],"in":[12,172],"recent":[13],"years":[14],"by":[15],"leveraging":[16],"visual":[17],"inputs":[18,105],"machine":[20],"learning":[21],"for":[22,161],"decision-making":[23],"control.":[25],"Despite":[26],"their":[27],"impressive":[28],"performance,":[29],"these":[30,138],"vision-based":[31,82,159],"controllers":[32],"can":[33,46],"make":[34],"erroneous":[35],"predictions":[36],"when":[37],"faced":[38],"with":[39],"novel":[40],"or":[41],"out-of-distribution":[42],"inputs.":[43],"Such":[44],"errors":[45],"cascade":[47],"to":[48,65,79,95,103,122,141],"catastrophic":[49],"system":[50,54,109,143,155],"failures":[51],"compromise":[53],"safety.":[55,144],"In":[56],"this":[57],"work,":[58],"we":[59,74],"introduce":[60],"a":[61,76,97,132,158],"run-time":[62],"anomaly":[63,112],"monitor":[64],"detect":[66],"mitigate":[68],"closed-loop,":[70],"system-level":[71,88,176],"failures.":[72,89],"Specifically,":[73],"leverage":[75],"reachability-based":[77],"framework":[78],"stress-test":[80],"the":[81,123,126,147,166,169,189],"controller":[83,134,160],"offline":[84],"mine":[86],"its":[87],"This":[90],"data":[91],"is":[92,100],"then":[93],"used":[94],"train":[96],"classifier":[98],"that":[99,106,116,135,156],"leveraged":[101],"online":[102],"flag":[104],"might":[107],"cause":[108],"breakdowns.":[110],"The":[111],"detector":[113],"highlights":[114],"issues":[115],"transcend":[117],"individual":[118],"modules":[119],"pertain":[121],"safety":[124,191],"of":[125,168,194],"overall":[127,190],"system.":[128],"We":[129,145],"also":[130],"design":[131],"fallback":[133],"robustly":[136],"handles":[137],"detected":[139],"anomalies":[140],"preserve":[142],"validate":[146],"proposed":[148,170],"approach":[149,171],"on":[150],"an":[151],"autonomous":[152,195],"aircraft":[153],"taxiing":[154],"uses":[157],"taxiing.":[162],"Our":[163],"results":[164],"show":[165],"efficacy":[167],"identifying":[173],"handling":[175],"anomalies,":[177],"outperforming":[178],"methods":[179],"prediction":[182],"error-based":[183],"detection,":[184],"ensembling,":[186],"thereby":[187],"enhancing":[188],"robustness":[193],"systems.":[196],"Website:":[197],"phoenixrider12.github.io/FailureMitigation":[198]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}