{"id":"https://openalex.org/W4405785122","doi":"https://doi.org/10.1109/iros58592.2024.10801932","title":"TrustNavGPT: Modeling Uncertainty to Improve Trustworthiness of Audio-Guided LLM-Based Robot Navigation","display_name":"TrustNavGPT: Modeling Uncertainty to Improve Trustworthiness of Audio-Guided LLM-Based Robot Navigation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785122","doi":"https://doi.org/10.1109/iros58592.2024.10801932"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5107677600","display_name":"Xingpeng Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xingpeng Sun","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA,47907"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100359694","display_name":"Yiran Zhang","orcid":"https://orcid.org/0000-0002-7545-5320"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiran Zhang","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA,47907"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004951237","display_name":"Xindi Tang","orcid":"https://orcid.org/0000-0002-4154-4309"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xindi Tang","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA,47907"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039563144","display_name":"Amrit Singh Bedi","orcid":"https://orcid.org/0000-0002-8807-2695"},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amrit Singh Bedi","raw_affiliation_strings":["University of Central Florida,Orlando,FL,USA,32816"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Central Florida,Orlando,FL,USA,32816","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107415315","display_name":"Aniket Bera","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aniket Bera","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA,47907"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8794","last_page":"8801"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9544000029563904,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9544000029563904,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9225999712944031,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10927","display_name":"Access Control and Trust","score":0.914900004863739,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trustworthiness","display_name":"Trustworthiness","score":0.7398055791854858},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.717922031879425},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5895358920097351},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4941554367542267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36248093843460083},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1688758134841919}],"concepts":[{"id":"https://openalex.org/C153701036","wikidata":"https://www.wikidata.org/wiki/Q659974","display_name":"Trustworthiness","level":2,"score":0.7398055791854858},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.717922031879425},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5895358920097351},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4941554367542267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36248093843460083},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1688758134841919}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W2001642682","https://openalex.org/W2073708226","https://openalex.org/W2170227627","https://openalex.org/W2171792512","https://openalex.org/W2470650155","https://openalex.org/W2580613877","https://openalex.org/W2743723307","https://openalex.org/W2748900206","https://openalex.org/W2799007037","https://openalex.org/W2886867781","https://openalex.org/W2955639361","https://openalex.org/W2963914279","https://openalex.org/W2964030506","https://openalex.org/W2964187267","https://openalex.org/W2964287316","https://openalex.org/W3034201026","https://openalex.org/W3101449015","https://openalex.org/W3105604018","https://openalex.org/W3127154451","https://openalex.org/W3205639482","https://openalex.org/W4389666115","https://openalex.org/W4389667233","https://openalex.org/W4390204337","https://openalex.org/W4392669753","https://openalex.org/W4393065402","https://openalex.org/W4393154152","https://openalex.org/W6603756312","https://openalex.org/W6761584544","https://openalex.org/W6809646742","https://openalex.org/W6839459284","https://openalex.org/W6839928859","https://openalex.org/W6847363464","https://openalex.org/W6850423384","https://openalex.org/W6852136651","https://openalex.org/W6852703390","https://openalex.org/W6852796095","https://openalex.org/W6853313673","https://openalex.org/W6853359188","https://openalex.org/W6853473467","https://openalex.org/W6853743997","https://openalex.org/W6853906918","https://openalex.org/W6853961047","https://openalex.org/W6854692045","https://openalex.org/W6856817465","https://openalex.org/W6857285574","https://openalex.org/W6858299849","https://openalex.org/W6858522248","https://openalex.org/W6858692988","https://openalex.org/W6860041859","https://openalex.org/W6861057362"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2076536433","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W90316445","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109"],"abstract_inverted_index":{"Large":[0],"language":[1],"models":[2],"(LLMs)":[3],"exhibit":[4],"a":[5,116,124,160,177],"wide":[6],"range":[7],"of":[8,60,106,118],"promising":[9],"capabilities":[10],"\u2013":[11],"from":[12],"step-by-step":[13],"planning":[14],"to":[15,67,102,186],"commonsense":[16],"reasoning":[17],"\u2013that":[18],"provide":[19],"utility":[20],"for":[21,199],"robot":[22],"navigation.":[23,202],"However,":[24],"as":[25,92],"humans":[26],"communicate":[27],"with":[28,57],"robots":[29],"in":[30,50,70,88,128,137,171,192],"the":[31,58,104,139,166,193,207],"real":[32],"world,":[33],"ambiguity":[34],"and":[35,94,109,120,132,142,196],"uncertainty":[36,131,198],"may":[37],"be":[38],"embedded":[39,191],"inside":[40],"spoken":[41,89],"instructions.":[42],"While":[43],"LLMs":[44,185],"are":[45],"proficient":[46],"at":[47],"processing":[48],"text":[49],"human":[51,71,107],"conversations,":[52],"they":[53],"often":[54],"encounter":[55],"difficulties":[56],"nuances":[59],"verbal":[61],"instructions":[62],"and,":[63],"thus,":[64],"remain":[65],"prone":[66],"hallucinate":[68],"trust":[69],"command.":[72],"In":[73],"this":[74],"work,":[75],"we":[76],"present":[77],"TrustNavGPT,":[78],"an":[79,133],"LLM-based":[80,146],"audio-guided":[81],"navigation":[82,147,169],"agent":[83],"that":[84,96,182],"uses":[85],"affective":[86],"cues":[87],"communication\u2014elements":[90],"such":[91],"tone":[93],"inflection":[95],"convey":[97],"meaning":[98],"beyond":[99],"words\u2014allowing":[100],"it":[101],"assess":[103],"trustworthiness":[105],"commands":[108],"make":[110],"effective,":[111],"safe":[112,200],"decisions.":[113],"Experiments":[114],"across":[115],"variety":[117],"simulation":[119],"real-world":[121],"setups":[122],"show":[123],"70.46%":[125],"success":[126,135,172],"rate":[127,136],"catching":[129],"command":[130,195],"80%":[134],"finding":[138],"target,":[140],"48.30%,":[141],"55%":[143],"outperform":[144],"existing":[145,167,184],"methods,":[148],"respectively.":[149],"Additionally,":[150],"TrustNavGPT":[151],"shows":[152],"remarkable":[153],"resilience":[154],"against":[155],"adversarial":[156],"attacks,":[157],"highlighted":[158],"by":[159],"22%+":[161],"less":[162],"decrease":[163],"ratio":[164],"than":[165],"LLM":[168],"method":[170],"rate.":[173],"Our":[174],"approach":[175,181],"provides":[176],"lightweight":[178],"yet":[179],"effective":[180],"extends":[183],"model":[187,197],"audio":[188],"vocal":[189],"features":[190],"voice":[194],"robotic":[201],"For":[203],"more":[204],"information,":[205],"visit":[206],"TrustNav":[208],"project":[209],"page.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
