外观
论文arXiv 2610.0788222 天前
CUSP：用于越野导航感知起点的 CUSUM 管控生存危险报警
原文链接：CUSP: CUSUM-Governed Survival Hazard Alarms at the Perception Onset for Off-Road Navigation（arXiv 2610.07882 · 发布日期：2026-10-06）
CUSP: CUSUM-Governed Survival Hazard Alarms at the Perception Onset for Off-Road Navigation
面向越野导航运行时危险报警缺失，CUSP从干预终止日志学习感知起点并用CUSUM报警，在五个未见场地验证。
核心要点
- 越野导航会遭遇危险地形，现有学习式导航虽用安全监督选路，却缺少跟随路径时的运行时报警。
- CUSP将人类判断安全转为不安全的时刻标注为感知起点，并与实际干预分开学习。
- 方法训练视觉危险头，用离散时间生存目标监督有无起点的驾驶片段，再由CUSUM累积风险触发报警。
- 在相同每小时十次误报率下，CUSP在142个事件中检测85个，优于九个改造基线中最佳的26个。
验证范围与局限：验证范围为五个未见场地，其中两个自主、三个遥操作，包含142个事件。
英文摘要 (Abstract)
Off-road navigation exposes a robot to potentially hazardous terrain en route. Although learning-based navigation uses safety supervision to choose which path to drive, it provides no runtime alarm when the robot following that path is heading into danger. Such an alarm must be learned from field logs, where human intervention preempts the failure and the failure itself is therefore never observed. The human judges driving unsafe early but typically intervenes only once failure is clearly near, so the intervention marks that judgment late. That earlier judgment is what a runtime alarm must detect, yet no prior intervention-supervised method has targeted it. To address this problem, we introduce CUSP (CUSUM-governed Survival model of the Perception onset), a model-agnostic runtime hazard alarm that learns this moment from intervention-terminated logs. "Cusp" is a word for the point at which one state is about to turn into another, and the moment we target is exactly such a cusp: the point at which safe driving turns unsafe in a human's judgment. We call this point the perception onset and annotate it separately from the intervention. A visual hazard head is trained on the annotated onset with a discrete-time survival objective so that driving with and without an onset both supervise the head, and a CUSUM accumulates the predicted onset risk into alarms. We evaluate CUSP at five unseen sites, two autonomous and three teleoperated, with 142 events and every method tuned to the same rate of ten false alarms per hour. CUSP detected 85 events compared to 26 for the best of nine adapted baselines, and the margin comes from hazards to which every signal in the navigation model is blind.
作者：Inuk Kang, Seung-Woo Seo
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