相关论文: Seeing with Partial Certainty: Conformal Predictio…

Vision-language models (VLMs) frequently generate hallucinated content plausible but incorrect claims about image content. We propose a training-free self-correction framework enabling VLMs to iteratively refine responses through…

General scene perception has progressed from object recognition toward open-vocabulary grounding, part localization, and affordance prediction. Yet these capabilities are often realized as isolated predictions that localize objects, parts,…

Vision-Language Models (VLMs) are increasingly deployed in autonomous driving and embodied AI systems, where reliable perception is critical for safe semantic reasoning and decision-making. While recent VLMs demonstrate strong performance…

Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduces the barrier of interfacing with humans. Previous work…

Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

Guide dog robots offer promising solutions to enhance mobility and safety for visually impaired individuals, addressing the limitations of traditional guide dogs, particularly in perceptual intelligence and communication. With the emergence…

In recent years, large-scale language models (LLMs) have gained attention for their impressive text generation capabilities. However, these models often face the challenge of "hallucination," which undermines their reliability. In this…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Predicting future 3D LiDAR pointclouds is a challenging task that is useful in many applications in autonomous driving such as trajectory prediction, pose forecasting and decision making. In this work, we propose a new LiDAR prediction…

In this paper, we present SPVLoc, a global indoor localization method that accurately determines the six-dimensional (6D) camera pose of a query image and requires minimal scene-specific prior knowledge and no scene-specific training. Our…

Vision-language models (VLMs) have significantly improved the generalization capabilities of robotic manipulation. However, VLM-based systems often suffer from a lack of robustness, leading to unpredictable errors, particularly in scenarios…

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

We solve object localisation in partial scenes, a new problem of estimating the unknown position of an object (e.g. where is the bag?) given a partial 3D scan of a scene. The proposed solution is based on a novel scene graph model, the…

Many indoor workspaces are quasi-static: global layout is stable but local semantics change continually, producing repetitive geometry, dynamic clutter, and perceptual noise that defeat vision-based localization. We present ShelfAware, a…

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)…

Accurate prediction of pedestrian trajectories is essential for applications in robotics and surveillance systems. While existing approaches primarily focus on social interactions between pedestrians, they often overlook the rich…

We propose a framework for planning in unknown dynamic environments with probabilistic safety guarantees using conformal prediction. Particularly, we design a model predictive controller (MPC) that uses i) trajectory predictions of the…

Given the higher information load processed by large vision-language models (LVLMs) compared to single-modal LLMs, detecting LVLM hallucinations requires more human and time expense, and thus rise a wider safety concerns. In this paper, we…

Uncertainty quantification is essential for assessing the reliability and trustworthiness of modern AI systems. Among existing approaches, verbalized uncertainty, where models express their confidence through natural language, has emerged…