{"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/task-driven-out-of-distribution-detection","title":"Task-Driven Detection of Distribution Shifts with Statistical Guarantees for Robot Learning","arxiv_id":"2106.13703","date":"2021-06-25","proceeding":null,"authors":["Alec Farid","Sushant Veer","Divyanshu Pachisia","Anirudha Majumdar"],"abstract":"Our goal is to perform out-of-distribution (OOD) detection, i.e., to detect when a robot is operating in environments drawn from a different distribution than the ones used to train the robot. We leverage Probably Approximately Correct (PAC)-Bayes theory to train a policy with a guaranteed bound on performance on the training distribution. Our idea for OOD detection relies on the following intuition: violation of the performance bound on test environments provides evidence that the robot is operating OOD. We formalize this via statistical techniques based on p-values and concentration inequalities. The approach provides guaranteed confidence bounds on OOD detection including bounds on both the false positive and false negative rates of the detector and is task-driven and only sensitive to changes that impact the robot's performance. We demonstrate our approach in simulation and hardware for a grasping task using objects with unfamiliar shapes or poses and a drone performing vision-based obstacle avoidance in environments with wind disturbances and varied obstacle densities. Our examples demonstrate that we can perform task-driven OOD detection within just a handful of trials.","url_abs":"https://arxiv.org/abs/2106.13703v6","url_pdf":"https://arxiv.org/pdf/2106.13703v6.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":"task-driven-out-of-distribution-detection","repo_url":"https://github.com/irom-lab/Task_Relevant_OOD_Detection","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"ood-detection","task_name":"Out of Distribution (OOD) Detection"},{"task_slug":"out-of-distribution-detection","task_name":"Out-of-Distribution Detection"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}