Uncertainty-Aware Action Segmentation for Human-to-Robot Assembly Teleoperation

arXiv:2606.08341 · cs.RO · Submitted 2026-06-06 · Read on arXiv

cs.RO

Submitted: 2026-06-06

Updated: 2026-10-13

Comments: 7 pages, 6 figures. Preprint version

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 1× in this paper · explained in 1 episode
• Conformal Prediction — 1× in this paper · explained in 7 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes
• Uncertainty Quantification — 1× in this paper · explained in 9 episodes

Sources

• Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution
• Learning Optimal Conformal Classifiers
• Open X-Embodiment: Robotic Learning Datasets and RT-X Models
• Uncertainty Sets for Image Classifiers using Conformal Prediction
• Conformalized Signal Temporal Logic Inference under Covariate Shift
• GPT-4 Technical Report

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