{
  "abstract": "Systems and methods described herein relate to generating a discrimination scores set based on observation data and action data obtained from a robot trained to perform a task, determining a threshold value based on the discrimination score set, and comparing a discrimination score obtained while the task is being performed with the threshold value to determine if a failure condition is present. This may be performed by utilizing random network distillation or other out-of-distribution detectors and conformal band prediction computed on a set of successful rollouts by the robot.",
  "assignees": [
    "TOYOTA JIDOSHA KK",
    "TOYOTA RES INSTITUTE INC"
  ],
  "authors": [
    "AMBRUS RARES A",
    "ITKINA MIKHAL",
    "LEE ROBERT",
    "NISHIMURA HARUKI",
    "SHAH PAARTH",
    "XU CHEN"
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  "source_date": "2026-04-09",
  "source_id": "US-2026097508-A1",
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  "supersedes": null,
  "title": "Uncertainty-aware failure detection for imitation learning robot policies",
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