# STARNet: Sensor Trustworthiness and Anomaly Recognition via Approximated Likelihood Regret for Robust Edge Autonomy

arXiv: https://arxiv.org/abs/2309.11006 · HTML: https://mlsanity.com/paper/2309.11006/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 24 of its 38 references that are in the map.
- First posted on arXiv 20 Sep 2023.

## Builds on (most cited first, 24 of 24)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Benchmarking Neural Network Robustness to Common Corruptions and Perturbations](https://mlsanity.com/paper/1903.12261/) (2019)
- [A Baseline for Detecting Misclassified and Out-of-Distribution Examples in Neural Networks](https://mlsanity.com/paper/1610.02136/) (2016)
- [A Simple Unified Framework for Detecting Out-of-Distribution Samples and Adversarial Attacks](https://mlsanity.com/paper/1807.03888/) (2018)
- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [Stochastic First- and Zeroth-order Methods for Nonconvex Stochastic Programming](https://mlsanity.com/paper/1309.5549/) (2013)
- [Likelihood Ratios for Out-of-Distribution Detection](https://mlsanity.com/paper/1906.02845/) (2019)
- [CrossPoint: Self-Supervised Cross-Modal Contrastive Learning for 3D Point Cloud Understanding](https://mlsanity.com/paper/2203.00680/) (2022)
- [Input complexity and out-of-distribution detection with likelihood-based generative models](https://mlsanity.com/paper/1909.11480/) (2019)
- [PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimation](https://mlsanity.com/paper/1711.10871/) (2017)
- [A Primer on Zeroth-Order Optimization in Signal Processing and Machine Learning](https://mlsanity.com/paper/2006.06224/) (2020)
- [Likelihood Regret: An Out-of-Distribution Detection Score For Variational Auto-encoder](https://mlsanity.com/paper/2003.02977/) (2020)
- [Mini-batch Stochastic Approximation Methods for Nonconvex Stochastic Composite Optimization](https://mlsanity.com/paper/1308.6594/) (2013)
- [Robo3D: Towards Robust and Reliable 3D Perception against Corruptions](https://mlsanity.com/paper/2303.17597/) (2023)
- [Sign-OPT: A Query-Efficient Hard-label Adversarial Attack](https://mlsanity.com/paper/1909.10773/) (2019)
- [Zeroth-Order Stochastic Variance Reduction for Nonconvex Optimization](https://mlsanity.com/paper/1805.10367/) (2018)
- [Anomaly Detection in 3D Point Clouds using Deep Geometric Descriptors](https://mlsanity.com/paper/2202.11660/) (2022)
- [A Comprehensive Linear Speedup Analysis for Asynchronous Stochastic Parallel Optimization from Zeroth-Order to First-Order](https://mlsanity.com/paper/1606.00498/) (2016)
- [Zeroth-order Nonconvex Stochastic Optimization: Handling Constraints, High-Dimensionality and Saddle-Points](https://mlsanity.com/paper/1809.06474/) (2018)
- [Weather Influence and Classification with Automotive Lidar Sensors](https://mlsanity.com/paper/1906.07675/) (2019)
- [Using Inertial Sensors for Position and Orientation Estimation](https://mlsanity.com/paper/1704.06053/) (2017)
- [Towards Query-Efficient Black-Box Adversary with Zeroth-Order Natural Gradient Descent](https://mlsanity.com/paper/2002.07891/) (2020)
- [Toward Unsupervised 3D Point Cloud Anomaly Detection using Variational Autoencoder](https://mlsanity.com/paper/2304.03420/) (2023)
- [Proactive Anomaly Detection for Robot Navigation with Multi-Sensor Fusion](https://mlsanity.com/paper/2204.01146/) (2022)

## Built on by (most cited first, 5 of 5)

- [Beyond Confidence: Adaptive Abstention in Dual-Threshold Conformal Prediction for Autonomous System Perception](https://mlsanity.com/paper/2502.07255/) (2025)
- [Sense Less, Generate More: Pre-training LiDAR Perception with Masked Autoencoders for Ultra-Efficient 3D Sensing](https://mlsanity.com/paper/2406.07833/) (2024)
- [INTACT: Inducing Noise Tolerance through Adversarial Curriculum Training for LiDAR-based Safety-Critical Perception and Autonomy](https://mlsanity.com/paper/2502.01896/) (2025)
- [Intelligent Sensing-to-Action for Robust Autonomy at the Edge: Opportunities and Challenges](https://mlsanity.com/paper/2502.02692/) (2025)
- [Enhanced Fault Detection and Cause Identification Using Integrated Attention Mechanism](https://mlsanity.com/paper/2408.00033/) (2024)

## Abstract (arXiv)

Complex sensors such as LiDAR, RADAR, and event cameras have proliferated in autonomous robotics to enhance perception and understanding of the environment. Meanwhile, these sensors are also vulnerable to diverse failure mechanisms that can intricately interact with their operation environment. In parallel, the limited availability of training data on complex sensors also affects the reliability of their deep learning-based prediction flow, where their prediction models can fail to generalize to environments not adequately captured in the training set. To address these reliability concerns, this paper introduces STARNet, a Sensor Trustworthiness and Anomaly Recognition Network designed to detect untrustworthy sensor streams that may arise from sensor malfunctions and/or challenging environments. We specifically benchmark STARNet on LiDAR and camera data. STARNet employs the concept of approximated likelihood regret, a gradient-free framework tailored for low-complexity hardware, especially those with only fixed-point precision capabilities. Through extensive simulations, we demonstrate the efficacy of STARNet in detecting untrustworthy sensor streams in unimodal and multimodal settings. In particular, the network shows superior performance in addressing internal sensor failures, such as cross-sensor interference and crosstalk. In diverse test scenarios involving adverse weather and sensor malfunctions, we show that STARNet enhances prediction accuracy by approximately 10% by filtering out untrustworthy sensor streams. STARNet is publicly available at urlhttps://github.com/sinatayebati/STARNet.