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This paper introduces Dynamic Learning from Learned Hallucination (Dyna-LfLH), a self-supervised method for training motion planners to navigate environments with dense and dynamic obstacles. Classical planners struggle with dense,…

This paper presents a self-supervised Learning from Learned Hallucination (LfLH) method to learn fast and reactive motion planners for ground and aerial robots to navigate through highly constrained environments. The recent Learning from…

While classical approaches to autonomous robot navigation currently enable operation in certain environments, they break down in tightly constrained spaces, e.g., where the robot needs to engage in agile maneuvers to squeeze between…

Learning from Hallucination (LfH) is a recent machine learning paradigm for autonomous navigation, which uses training data collected in completely safe environments and adds numerous imaginary obstacles to make the environment densely…

This study addresses the critical challenge of hallucination mitigation in Large Vision-Language Models (LVLMs) for Visual Question Answering (VQA) tasks through a Split Conformal Prediction (SCP) framework. While LVLMs excel in multi-modal…

Large vision-language models (LVLMs) have demonstrated exceptional performance on complex multimodal tasks. However, they continue to suffer from significant hallucination issues, including object, attribute, and relational hallucinations.…

The ability to predict and plan into the future is fundamental for agents acting in the world. To reach a faraway goal, we predict trajectories at multiple timescales, first devising a coarse plan towards the goal and then gradually filling…

Hallucination in large language models (LLMs) remains a critical barrier to their safe deployment. For hallucination detection to be practical in real-world scenarios, the use of efficient small models is essential to ensure low latency and…

While current systems for autonomous robot navigation can produce safe and efficient motion plans in static environments, they usually generate suboptimal behaviors when multiple robots must navigate together in confined spaces. For…

We present a novel approach to automatically generate non-trivial task-specific synthetic datasets for hallucination detection. Our approach features a two-step generation-selection pipeline, using hallucination pattern guidance and a…

Hallucinations in large language models (LLMs) present a growing challenge across real-world applications, from healthcare to law, where factual reliability is essential. Despite advances in alignment and instruction tuning, LLMs can still…

Autonomous highway driving involves high-speed safety risks due to limited reaction time, where rare but dangerous events may lead to severe consequences. This places stringent requirements on trajectory planning in terms of both…

Despite the rapid success of Large Vision-Language Models (LVLMs), a persistent challenge is their tendency to generate hallucinated content, undermining reliability in real-world use. Existing training-free methods address hallucinations…

Large Language Models (LLMs) frequently hallucinate, limiting their reliability in critical applications. Conformal Prediction (CP) addresses this by calibrating error rates on held-out data to provide statistically valid confidence…

Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…

Deep learning models in robotics often output point estimates with poorly calibrated confidences, offering no native mechanism to quantify predictive reliability under novel, noisy, or out-of-distribution inputs. Conformal prediction (CP)…

Identifying the obstacle space is crucial for path planning. However, generating an accurate obstacle space remains a significant challenge due to various sources of uncertainty, including motion, behavior, and perception limitations. Even…

When planning for autonomous driving, it is crucial to consider essential traffic elements such as lanes, intersections, traffic regulations, and dynamic agents. However, they are often overlooked by the traditional end-to-end planning…

Large language models (LLMs) can be prone to hallucinations - generating unreliable outputs that are unfaithful to their inputs, external facts or internally inconsistent. In this work, we address several challenges for post-hoc…

Risk-aware navigation in unknown environments is a fundamental challenge for autonomous vehicles operating in complex urban systems. To address this issue, this paper presents a differentiable optimization layered safety-critical control…