分布シフト下でのセンサーモーター制御のためのコンフォーマル政策学習
Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts
コンフォーマル分位点を入力とするスイッチングポリシーを設計し、分布シフトを統計的保証付きで検出・対応する手法を提案。自動運転シミュレーションと四足歩行ロボットの能動知覚で有効性を実証。
著者: Huang Huang, Satvik Sharma, Antonio Loquercio, Anastasios Angelopoulos, Ken Goldberg, Jitendra Malik
分類: cs.RO, cs.AI
原文アブストラクト
This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching policies that can take conformal quantiles as input, which we define as conformal policy learning, that allows robots to detect distribution shifts with formal statistical guarantees. We show how to design such policies by using conformal quantiles to switch between base policies with different characteristics, e.g. safety or speed, or directly augmenting a policy observation with a quantile and training it with reinforcement learning. Theoretically, we show that such policies achieve the formal convergence guarantees in finite time. In addition, we thoroughly evaluate their advantages and limitations on two compelling use cases: simulated autonomous driving and active perception with a physical quadruped. Empirical results demonstrate that our approach outperforms five baselines. It is also the simplest of the baseline strategies besides one ablation. Being easy to use, flexible, and with formal guarantees, our work demonstrates how conformal prediction can be an effective tool for sensorimotor learning under uncertainty.
