---
publication_id: "OT-2026-000000990"
title: "Uncertainty-aware failure detection for imitation learning robot policies"
published_at: "2026-09-15T19:03:42.065347Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000990"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1674"
  - "b25j9/1674"
  - "b25j9/16"
  - "b25j9/1653"
  - "b25j9/1653"
---

# Uncertainty-aware failure detection for imitation learning robot policies

## 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.