Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation

Control Barrier Functions (CBFs) have become powerful tools for ensuring safety in nonlinear systems. However, finding valid CBFs that guarantee persistent safety and feasibility remains an open challenge, especially in systems with input constraints. Traditional approaches often rely on manually tuning the parameters of the class K functions of the CBF conditions a priori. The performance of CBF-based controllers is highly sensitive to these fixed parameters, potentially leading to overly conservative behavior or safety violations. To overcome these issues, this paper introduces a learning-based optimal control framework for online adaptation of Input Constrained CBF (ICCBF) parameters in discrete-time nonlinear systems. Our method employs a probabilistic ensemble neural network to predict the performance and risk metrics, as defined in this work, for candidate parameters, accounting for both epistemic and aleatoric uncertainties. We propose a two-step verification process using Jensen-Renyi Divergence and distributionally-robust Conditional Value at Risk to identify valid parameters. This enables dynamic refinement of ICCBF parameters based on current state and nearby environments, optimizing performance while ensuring safety within the verified parameter set. Experimental results demonstrate that our method outperforms both fixed-parameter and existing adaptive methods in robot navigation scenarios across safety and performance metrics.

Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments

Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Control Barrier Functions (CBFs), have been proposed to ensure safety, their effectiveness relies on the assumption that the robot has complete knowledge of its surroundings. In reality, robots often operate with restricted field-of-view and finite sensing range, which can lead to collisions with unknown obstacles if the planning algorithm is agnostic to these limitations. To address this issue, we introduce the visibility-aware RRT* algorithm that combines sampling-based planning with CBFs to generate safe and efficient global reference paths in partially unknown environments. The algorithm incorporates a collision avoidance CBF and a novel visibility CBF, which guarantees that the robot remains within locally collision-free regions, enabling timely detection and avoidance of unknown obstacles. We conduct extensive experiments interfacing the path planners with two different safety-critical controllers, wherein our method outperforms all other compared baselines across both safety and efficiency aspects.

ActiveNeuS: Active 3D Reconstruction using Neural Implicit Surface Uncertainty

Active learning in 3D scene reconstruction has been widely studied, as selecting informative training views is critical for the reconstruction. Recently, Neural Radiance Fields (NeRF) variants have shown performance increases in active 3D reconstruction using image rendering or geometric uncertainty. However, the simultaneous consideration of both uncertainties in selecting informative views remains unexplored, while utilizing different types of uncertainty can reduce the bias that arises in the early training stage with sparse inputs. In this paper, we propose ActiveNeuS, which evaluates candidate views considering both uncertainties. ActiveNeuS provides a way to accumulate image rendering uncertainty while avoiding the bias that the estimated densities can introduce. ActiveNeuS computes the neural implicit surface uncertainty, providing the color uncertainty along with the surface information. It efficiently handles the bias by using the surface information and a grid, enabling the fast selection of diverse viewpoints. Our method outperforms previous works on popular datasets, Blender and DTU, showing that the views selected by ActiveNeuS significantly improve performance.

HYPE: Hyperbolic Entailment Filtering for Underspecified Images and Texts

In an era where the volume of data drives the effectiveness of self-supervised learning, the specificity and clarity of data semantics play a crucial role in model training. Addressing this, we introduce HYPerbolic Entailment filtering (HYPE), a novel methodology designed to meticulously extract modality-wise meaningful and well-aligned data from extensive, noisy image-text pair datasets. Our approach leverages hyperbolic embeddings and the concept of entailment cones to evaluate and filter out samples with meaningless or underspecified semantics, focusing on enhancing the specificity of each data sample. HYPE not only demonstrates a significant improvement in filtering efficiency but also sets a new state-of-the-art in the DataComp benchmark when combined with existing filtering techniques. This breakthrough showcases the potential of HYPE to refine the data selection process, thereby contributing to the development of more accurate and efficient self-supervised learning models. Additionally, the image specificity $\epsilon_{i}$ can be independently applied to induce an image-only dataset from an image-text or image-only data pool for training image-only self-supervised models and showed superior performance when compared to the dataset induced by CLIP score.

Leveraging Temporal Contextualization for Video Action Recognition

Pretrained vision-language models have shown effectiveness in video understanding. However, recent studies have not sufficiently leveraged essential temporal information from videos, simply averaging frame-wise representations or referencing consecutive frames. We introduce Temporally Contextualized CLIP (TC-CLIP), a pioneering framework for video understanding that effectively and efficiently leverages comprehensive video information. We propose Temporal Contextualization (TC), a novel layer-wise temporal information infusion mechanism for video that extracts core information from each frame, interconnects relevant information across the video to summarize into context tokens, and ultimately leverages the context tokens during the feature encoding process. Furthermore, our Video-conditional Prompting (VP) module manufactures context tokens to generate informative prompts in text modality. We conduct extensive experiments in zero-shot, few-shot, base-to-novel, and fully-supervised action recognition to validate the superiority of our TC-CLIP. Ablation studies for TC and VP guarantee our design choices. Code is available at https://github.com/naver-ai/tc-clip

Masked Image Modeling via Dynamic Token Morphing

Masked Image Modeling (MIM) arises as a promising option for Vision Transformers among various self-supervised learning (SSL) methods. The essence of MIM lies in token-wise masked patch predictions, with targets patchified from images; or generated by pre-trained tokenizers or models. We argue targets from the pre-trained models usually exhibit spatial inconsistency, which makes it excessively challenging for the model to follow to learn more discriminative representations. To mitigate the issue, we introduce a novel self-supervision signal based on Dynamic Token Morphing (DTM), which dynamically aggregates contextually related tokens. DTM can be generally applied to various SSL frameworks, yet we propose a simple MIM that employs DTM to effectively improve the performance barely introducing extra training costs. Our experiments on ImageNet-1K and ADE20K evidently demonstrate the superiority of our methods. Furthermore, the comparative evaluation of iNaturalist and Fine-grained Visual Classification datasets further validates the transferability of our method on various downstream tasks. Our code will be released publicly.

Longer-range Contextualized Masked Autoencoder

Masked image modeling (MIM) has emerged as a promising self-supervised learning (SSL) strategy. The MIM pre-training facilitates learning powerful representations using an encoder-decoder framework by randomly masking some input pixels and reconstructing the masked pixels from the remaining ones. However, as the encoder is trained with partial pixels, the MIM pre-training can suffer from a low capability of understanding long-range dependency. This limitation may hinder its capability to fully understand multiple-range dependencies, resulting in narrow highlighted regions in the attention map that may incur accuracy drops. To mitigate the limitation, We propose a self-supervised learning framework, named Longer-range Contextualized Masked Autoencoder (LC-MAE). LC-MAE effectively leverages a global context understanding of visual representations while simultaneously reducing the spatial redundancy of input at the same time. Our method steers the encoder to learn from entire pixels in multiple views while also learning local representation from sparse pixels. As a result, LC-MAE learns more discriminative representations, leading to a performance improvement of achieving 84.2% top-1 accuracy with ViT-B on ImageNet-1K with 0.6%p gain. We attribute the success to the enhanced pre-training method, as evidenced by the singular value spectrum and attention analyses. Finally, LC-MAE achieves significant performance gains at the downstream semantic segmentation and fine-grained visual classification tasks; and on diverse robust evaluation metrics. Our code will be publicly available.

METAVerse: Meta-Learning Traversability Cost Map for Off-Road Navigation

Autonomous navigation in off-road conditions requires an accurate estimation of terrain traversability. However, traversability estimation in unstructured environments is subject to high uncertainty due to the variability of numerous factors that influence vehicle-terrain interaction. Consequently, it is challenging to obtain a generalizable model that can accurately predict traversability in a variety of environments. This paper presents METAVerse, a meta-learning framework for learning a global model that accurately and reliably predicts terrain traversability across diverse environments. We train the traversability prediction network to generate a dense and continuous-valued cost map from a sparse LiDAR point cloud, leveraging vehicle-terrain interaction feedback in a self-supervised manner. Meta-learning is utilized to train a global model with driving data collected from multiple environments, effectively minimizing estimation uncertainty. During deployment, online adaptation is performed to rapidly adapt the network to the local environment by exploiting recent interaction experiences. To conduct a comprehensive evaluation, we collect driving data from various terrains and demonstrate that our method can obtain a global model that minimizes uncertainty. Moreover, by integrating our model with a model predictive controller, we demonstrate that the reduced uncertainty results in safe and stable navigation in unstructured and unknown terrains.

Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception

Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and perception uncertainty to ensure safe and reliable navigation. The framework consists of two uncertainty-aware models: a learning-based vehicle dynamics model and a self-supervised traversability estimation model. We train a vehicle dynamics model that can quantify the epistemic uncertainty of the model to perform active exploration, resulting in the efficient collection of training data and effective avoidance of uncertain state-action spaces. In addition, we employ meta-learning to train a traversability cost prediction network. The model can be trained with driving data from a variety of types of terrain, and it can online-adapt based on interaction experiences to reduce the aleatoric uncertainty. Integrating the dynamics model and traversability cost prediction model with a sampling-based model predictive controller allows for optimizing trajectories that avoid uncertain terrains and state-action spaces. Experimental results demonstrate that the proposed method reduces uncertainty in prediction and improves stability in autonomous vehicle navigation in unstructured environments.

Augmenting Sub-model to Improve Main Model

Image classification has improved with the development of training techniques. However, these techniques often require careful parameter tuning to balance the strength of regularization, limiting their potential benefits. In this paper, we propose a novel way to use regularization called Augmenting Sub-model (AugSub). AugSub consists of two models: the main model and the sub-model. While the main model employs conventional training recipes, the sub-model leverages the benefit of additional regularization. AugSub achieves this by mitigating adverse effects through a relaxed loss function similar to self-distillation loss. We demonstrate the effectiveness of AugSub with three drop techniques: dropout, drop-path, and random masking. Our analysis shows that all AugSub improves performance, with the training loss converging even faster than regular training. Among the three, AugMask is identified as the most practical method due to its performance and cost efficiency. We further validate AugMask across diverse training recipes, including DeiT-III, ResNet, MAE fine-tuning, and Swin Transformer. The results show that AugMask consistently provides significant performance gain. AugSub provides a practical and effective solution for introducing additional regularization under various training recipes. Code is available at \url{https://github.com/naver-ai/augsub}.