An unsupervised audio-IMU anomaly detector combining Mahalanobis-distance SVDD with a reconstruction branch reports higher F1 and AUC than baselines on robot collision and fault data.
Multimodal anomaly detection based on deep auto-encoder for object slip perception of mobile ma- nipulation robots,
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Unsupervised Anomaly Detection for Autonomous Robots via Mahalanobis SVDD with Audio-IMU Fusion
An unsupervised audio-IMU anomaly detector combining Mahalanobis-distance SVDD with a reconstruction branch reports higher F1 and AUC than baselines on robot collision and fault data.