arXiv subjects

Nur Keleşoğlu

Publications and source records attributed to Nur Keleşoğlu.

2 recordsLinked to original sources

arXiv2026

Risk-Aware Semantic Grounding for Trustworthy LLM-Based Robot Planning

Large language models (LLMs) are increasingly used as high-level planners in robot navigation, but their outputs may become unreliable when instructions are ambiguous, unsupported by the environment, or semantically inconsistent. This paper presents a Risk-Aware Semantic Grounding framework for trustworthy LLM-based robot planning. Unlike existing LLM-based planners that primarily optimize plan generation, we formulate semantic grounding reliability as a multi-dimensional risk estimation problem. The proposed architecture explicitly models grounding uncertainty through ambiguity, hallucination and semantic-conflict risks before planning occurs, enabling the system to decide whether to execute the instruction, request clarification, or reject it. To evaluate the approach, we introduce TRUST-NAV, a benchmark containing both standard navigation tasks and risk-inducing instruction scenarios. Experimental results show that while conventional LLM planners achieve strong performance on valid navigation tasks, the proposed framework substantially improves ambiguity detection and semantic conflict rejection. These findings suggest that trustworthy robot planning should be evaluated not only by task completion, but also by the ability to recognize when execution should not occur.

cs.RO↗

arXiv2026

From Plots to Words: Model-Aware Multimodal Explanations as a Foundation for Accessible, Non-Visual Interaction

Multimodal large language models are increasingly used in interactive systems, yet ensuring consistent, trustworthy reasoning across heterogeneous modalities remains challenging. We present a context-aware, multi-agent framework that integrates textual queries, numerical data, visual representations, and model-derived signals for explainable time-series forecasting. A distinctive feature is that it turns predominantly visual forecasting outputs (e.g., trend plots) into structured, model-aware textual explanations. We argue that this makes the approach a natural foundation for non-visual, accessible interaction of particular relevance to blind and visually impaired users, for whom plot-centric interfaces are largely inaccessible. The framework supports three progressively richer pipelines (baseline, interpretable, explainable), enabling systematic comparison of unimodal, perception-driven, and model-aware responses. In an exploratory evaluation using an LLM-based judge as an early-stage proxy for human assessment, the explainable configuration improves overall explanation quality by up to 32% over a numerical baseline, with notable gains in trustworthiness and model awareness. We position user-centered validation with target users, including screen-reader and speech-interface users, as the essential next step rather than a claim established here.

cs.HC↗