AdaptNC: 分布シフト下の共形予測のための適応的非適合スコア
AdaptNC: Adaptive Nonconformity Scores for Conformal Prediction under Distribution Shift
共形予測において、非適合スコア関数と閾値をオンラインで同時適応させ、分布シフト下でも予測領域の体積を削減しつつ被覆率を維持する手法を提案。
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著者: Renukanandan Tumu, Aditya Singh, Rahul Mangharam
分類: cs.LG, cs.RO, cs.SY, eess.SY
原文アブストラクト
Rigorous uncertainty quantification is essential for the safe deployment of autonomous systems in unconstrained environments. Conformal Prediction (CP) provides a distribution-free framework for this task, yet its standard formulations rely on exchangeability assumptions that are violated by the distribution shifts inherent in real-world robotics. Existing online CP methods maintain target coverage by adaptively scaling the conformal threshold, but typically employ a static nonconformity score function. We show that this fixed geometry leads to highly conservative, volume-inefficient prediction regions when environments undergo structural shifts. To address this, we propose $\textbf{AdaptNC}$, a framework for the joint online adaptation of both the nonconformity score parameters and the conformal threshold. AdaptNC leverages an adaptive reweighting scheme to optimize score functions, and introduces a replay buffer mechanism to mitigate the coverage instability that occurs during score transitions. We evaluate AdaptNC on diverse robotic benchmarks involving multi-agent policy changes, environmental changes and sensor degradation. Our results demonstrate that AdaptNC significantly reduces prediction region volume compared to state-of-the-art threshold-only baselines while maintaining target coverage levels.
