Conformal Prediction for Semantically-Aware Autonomous Perception in Urban Environments

Achref Doula, Tobias Güdelhöfer, Max Mühlhäuser, Alejandro Sanchez Guinea

Keywords: Uncertainty in Robotics, Robot Perception, Semantics for Robotics

Abstract: We introduce Knowledge-Refined Prediction Sets (KRPS), a novel approach that performs semantically-aware uncertainty quantification for multitask-based autonomous perception in urban environments. KRPS extends conformal prediction (CP) to ensure 2 properties not typically addressed by CP frameworks: semantic label consistency and true label coverage, across multiple perception tasks. We elucidate the capability of KRPS through high-level classification tasks crucial for semantically-aware autonomous perception in urban environments, including agent classification, agent location classification, and agent action classification. In a theoretical analysis, we introduce the concept of semantic label consistency among tasks and prove the semantic consistency and marginal coverage properties of the produced sets by KRPS. The results of our evaluation on the ROAD dataset and the Waymo/ROAD++ dataset show that KRPS outperforms state-of-the-art CP methods in reducing uncertainty by up to 80\% and increasing the semantic consistency by up to 30\%, while maintaining the coverage guarantees.

Code: https://gitlab.com/achref.d/krps

Student Paper: yes

Submission Number: 283