{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-real-time-anomaly-detection-method-for","title":"A real-time anomaly detection method for robots based on a flexible and sparse latent space","arxiv_id":"2504.11170","date":"2025-04-15","proceeding":null,"authors":["Taewook Kang","Bum-Jae You","Juyoun Park","Yisoo Lee"],"abstract":"The growing demand for robots to operate effectively in diverse environments necessitates the need for robust real-time anomaly detection techniques during robotic operations. However, deep learning-based models in robotics face significant challenges due to limited training data and highly noisy signal features. In this paper, we present Sparse Masked Autoregressive Flow-based Adversarial AutoEncoder model to address these problems. This approach integrates Masked Autoregressive Flow model into Adversarial AutoEncoders to construct a flexible latent space and utilize Sparse autoencoder to efficiently focus on important features, even in scenarios with limited feature space. Our experiments demonstrate that the proposed model achieves a 4.96% to 9.75% higher area under the receiver operating characteristic curve for pick-and-place robotic operations with randomly placed cans, compared to existing state-of-the-art methods. Notably, it showed up to 19.67% better performance in scenarios involving collisions with lightweight objects. Additionally, unlike the existing state-of-the-art model, our model performs inferences within 1 millisecond, ensuring real-time anomaly detection. These capabilities make our model highly applicable to machine learning-based robotic safety systems in dynamic environments. The code is available at https://github.com/twkang43/sparse-maf-aae.","url_abs":"https://arxiv.org/abs/2504.11170v3","url_pdf":"https://arxiv.org/pdf/2504.11170v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"a-real-time-anomaly-detection-method-for","repo_url":"https://github.com/twkang43/sparse-maf-aae","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"anomaly-detection","task_name":"Anomaly Detection"}],"methods":[{"method_slug":"focus","method_name":"Focus"},{"method_slug":"sparse-autoencoder","method_name":"Sparse Autoencoder"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}