Perceive with confidence: Statistical safety assurances for navigation with learning-based perception

Zhiting Mei, Anushri Dixit, Meghan Booker, Emily Zhou, Mariko Storey-Matsutani, Allen Z. Ren, Ola Shorinwa, Anirudha Majumdar, Department of Mechanical and Aerospace Engineering, Princeton University, Department of Mechanical and Aerospace Engineering, University of California, Los Angels, Applied Physics Laboratory, Johns Hopkins University

The International Journal of Robotics Research

Published online on November 06, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 6, Page 938-967, May 2026.
Rapid advances in perception have enabled large pre-trained models to be used out of the box for transforming high-dimensional, noisy, and partial observations of the world into rich occupancy representations. However, the reliability of these models and ...