{"id":"https://openalex.org/W4416747980","doi":"https://doi.org/10.1109/iros60139.2025.11246277","title":"Deep Learning-based Proactive Hazard Prediction for Human-Robot Collaboration with Sensor Malfunctions","display_name":"Deep Learning-based Proactive Hazard Prediction for Human-Robot Collaboration with Sensor Malfunctions","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416747980","doi":"https://doi.org/10.1109/iros60139.2025.11246277"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5006320303","display_name":"Yuliang Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yuliang Ma","raw_affiliation_strings":["University of Stuttgart,Institute of Industrial Automation and Software Engineering,Stuttgart,Germany,70550"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute of Industrial Automation and Software Engineering,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101912602","display_name":"Zhen Jin","orcid":"https://orcid.org/0000-0003-0354-708X"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zilin Jin","raw_affiliation_strings":["University of Stuttgart,Institute of Industrial Automation and Software Engineering,Stuttgart,Germany,70550"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute of Industrial Automation and Software Engineering,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028106419","display_name":"Qi Liu","orcid":"https://orcid.org/0000-0003-4753-3966"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Qi Liu","raw_affiliation_strings":["University of Stuttgart,Institute of Industrial Automation and Software Engineering,Stuttgart,Germany,70550"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute of Industrial Automation and Software Engineering,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104001773","display_name":"Ilshat Mamaev","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ilshat Mamaev","raw_affiliation_strings":["Karlsruhe University of Applied Sciences and with Proximity Robotics &#x0026; Automation GmbH,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe University of Applied Sciences and with Proximity Robotics &#x0026; Automation GmbH,Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080060901","display_name":"Andrey Morozov","orcid":"https://orcid.org/0000-0001-8647-5629"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andrey Morozov","raw_affiliation_strings":["University of Stuttgart,Institute of Industrial Automation and Software Engineering,Stuttgart,Germany,70550"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute of Industrial Automation and Software Engineering,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006320303"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48119401,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6328","last_page":"6335"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7742000222206116,"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":0.7742000222206116,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.050200000405311584,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.029400000348687172,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/anomaly-detection","display_name":"Anomaly detection","score":0.6850000023841858},{"id":"https://openalex.org/keywords/hazard","display_name":"Hazard","score":0.555899977684021},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5073999762535095},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.49869999289512634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4194999933242798},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.3869999945163727},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.37470000982284546},{"id":"https://openalex.org/keywords/hazard-analysis","display_name":"Hazard analysis","score":0.3709000051021576}],"concepts":[{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.6850000023841858},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5684999823570251},{"id":"https://openalex.org/C49261128","wikidata":"https://www.wikidata.org/wiki/Q1132455","display_name":"Hazard","level":2,"score":0.555899977684021},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5073999762535095},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.49869999289512634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4194999933242798},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.3869999945163727},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.37470000982284546},{"id":"https://openalex.org/C206355099","wikidata":"https://www.wikidata.org/wiki/Q3614972","display_name":"Hazard analysis","level":2,"score":0.3709000051021576},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3637999892234802},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.35910001397132874},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3580000102519989},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.34369999170303345},{"id":"https://openalex.org/C2777488183","wikidata":"https://www.wikidata.org/wiki/Q6900510","display_name":"Safety monitoring","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33959999680519104},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33340001106262207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32989999651908875},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2874999940395355},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.2809000015258789},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.2799000144004822},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C12997251","wikidata":"https://www.wikidata.org/wiki/Q567560","display_name":"Anomaly (physics)","level":2,"score":0.2653999924659729},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26190000772476196},{"id":"https://openalex.org/C12174686","wikidata":"https://www.wikidata.org/wiki/Q1058438","display_name":"Risk assessment","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.25679999589920044},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":27,"referenced_works":["https://openalex.org/W1989894308","https://openalex.org/W2145071552","https://openalex.org/W2275525769","https://openalex.org/W2884642747","https://openalex.org/W2910081881","https://openalex.org/W2955189310","https://openalex.org/W2962730651","https://openalex.org/W2963166639","https://openalex.org/W3094493488","https://openalex.org/W3099659757","https://openalex.org/W3127756416","https://openalex.org/W3132408792","https://openalex.org/W3164160032","https://openalex.org/W3185780566","https://openalex.org/W3205513220","https://openalex.org/W4200608820","https://openalex.org/W4210656760","https://openalex.org/W4213452319","https://openalex.org/W4312311821","https://openalex.org/W4312550647","https://openalex.org/W4312577425","https://openalex.org/W4385245566","https://openalex.org/W4387123788","https://openalex.org/W4390120101","https://openalex.org/W4398788589","https://openalex.org/W4405779013","https://openalex.org/W4405785195"],"related_works":[],"abstract_inverted_index":{"Safety":[0],"is":[1,80,159],"a":[2,115],"critical":[3],"concern":[4],"in":[5,17,108,149],"human-robot":[6],"collaboration":[7],"(HRC).":[8],"As":[9],"collaborative":[10],"robots":[11],"take":[12],"on":[13,42,47,94],"increasingly":[14],"complex":[15],"tasks":[16],"human":[18,90,175],"environments,":[19],"their":[20],"systems":[21],"have":[22],"become":[23],"more":[24],"sophisticated":[25],"through":[26],"the":[27,124,163,197],"integration":[28],"of":[29,126,134,155],"multimodal":[30,170],"sensors,":[31,34],"including":[32,172],"force-torque":[33],"cameras,":[35],"LiDARs,":[36],"and":[37,69,82,136,140,179,217],"IMUs.":[38],"However,":[39],"existing":[40],"studies":[41],"HRC":[43,110,151],"safety":[44,49,107],"primarily":[45],"focus":[46],"ensuring":[48],"under":[50],"normal":[51],"operating":[52],"conditions,":[53],"overlooking":[54],"scenarios":[55],"where":[56],"internal":[57],"sensor":[58,67,86,186],"faults":[59],"occur.While":[60],"anomaly":[61,78,95],"detection":[62,96,125],"modules":[63],"can":[64,97],"help":[65],"identify":[66],"errors":[68,101],"mitigate":[70],"hazards,":[71],"two":[72,131],"key":[73],"challenges":[74],"remain:":[75],"(1)":[76],"no":[77],"detector":[79],"flawless,":[81],"(2)":[83],"not":[84],"all":[85],"malfunctions":[87,187],"directly":[88],"threaten":[89],"safety.":[91],"Relying":[92],"solely":[93],"lead":[98,189],"to":[99,161,183,190],"missed":[100],"or":[102],"excessive":[103],"false":[104],"alarms.To":[105],"enhance":[106],"real-world":[109,157],"applications,":[111],"this":[112],"paper":[113],"introduces":[114],"deep":[116],"learning-based":[117],"method":[118,199],"that":[119,145,196],"proactively":[120],"predicts":[121],"hazards":[122],"following":[123],"sensory":[127],"anomalies.":[128],"We":[129],"simulate":[130],"common":[132],"types":[133],"faults\u2014bias":[135],"noise\u2014affecting":[137],"joint":[138,177],"sensors":[139],"monitor":[141],"abnormal":[142],"manipulator":[143],"behaviors":[144],"could":[146,188],"pose":[147],"risks":[148],"fenceless":[150],"environments.":[152],"A":[153],"dataset":[154],"2,400":[156],"samples":[158],"collected":[160],"train":[162],"proposed":[164,198],"hazard":[165],"prediction":[166],"model.The":[167],"approach":[168],"leverages":[169],"inputs,":[171],"RGB-D":[173],"images,":[174],"pose,":[176],"states,":[178],"planned":[180],"robot":[181],"paths,":[182],"assess":[184],"whether":[185],"hazardous":[191],"events.":[192],"Experimental":[193],"results":[194],"show":[195],"outperforms":[200],"state-of-the-art":[201],"models,":[202],"while":[203],"offering":[204],"faster":[205],"inference":[206],"speed.":[207],"Additionally,":[208],"cross-scenario":[209],"testing":[210],"confirms":[211],"its":[212],"strong":[213],"generalization":[214],"capabilities.The":[215],"code":[216],"datasets":[218],"are":[219],"available":[220],"at:":[221],"DL-based-Hazard-Prediction.":[222]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
