TRIAGE: Type-Routed Interventions via Aleatoric-Epistemic Gated Estimation in Robotic Manipulation and Adaptive Perception -- Don't Treat All Uncertainty the Same
The paper introduces a lightweight framework to decompose uncertainty into aleatoric (observation noise) and epistemic (model mismatch) components. This allows the system to take type-specific actions: recovering observations when sensing is noisy, or dampening control when the model is wrong. This decomposition improves task success significantly and reduces computational load.