@article{canwedetectfailureswithoutfailuredata,
  title = {Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies},
  author = {Chen Xu and Tony Khuong Nguyen and Emma Dixon and Christopher Rodriguez and Patrick Miller and Robert Lee and Paarth Shah and Rares Ambrus and Haruki Nishimura and Masha Itkina},
  year = {2025},
  eprint = {2503.08558},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2503.08558v3},
}