Sarah Cen | Searcharxiv

arXiv2025

The California Report on Frontier AI Policy

The innovations emerging at the frontier of artificial intelligence (AI) are poised to create historic opportunities for humanity but also raise complex policy challenges. Continued progress in frontier AI carries the potential for profound advances in scientific discovery, economic productivity, and broader social well-being. As the epicenter of global AI innovation, California has a unique opportunity to continue supporting developments in frontier AI while addressing substantial risks that could have far reaching consequences for the state and beyond. This report leverages broad evidence, including empirical research, historical analysis, and modeling and simulations, to provide a framework for policymaking on the frontier of AI development. Building on this multidisciplinary approach, this report derives policy principles that can inform how California approaches the use, assessment, and governance of frontier AI: principles rooted in an ethos of trust but verify. This approach takes into account the importance of innovation while establishing appropriate strategies to reduce material risks.

cs.CY↗

arXiv2019

Probably Unknown: Deep Inverse Sensor Modelling In Radar

Radar presents a promising alternative to lidar and vision in autonomous vehicle applications, able to detect objects at long range under a variety of weather conditions. However, distinguishing between occupied and free space from raw radar power returns is challenging due to complex interactions between sensor noise and occlusion. To counter this we propose to learn an Inverse Sensor Model (ISM) converting a raw radar scan to a grid map of occupancy probabilities using a deep neural network. Our network is self-supervised using partial occupancy labels generated by lidar, allowing a robot to learn about world occupancy from past experience without human supervision. We evaluate our approach on five hours of data recorded in a dynamic urban environment. By accounting for the scene context of each grid cell our model is able to successfully segment the world into occupied and free space, outperforming standard CFAR filtering approaches. Additionally by incorporating heteroscedastic uncertainty into our model formulation, we are able to quantify the variance in the uncertainty throughout the sensor observation. Through this mechanism we are able to successfully identify regions of space that are likely to be occluded.

cs.RO↗