Uncertainty Quantification (UQ) for Natural Language Generation (NLG) is crucial for assessing the performance of Large Language Models (LLMs), as it reveals confidence in predictions, identifies failure modes, and gauges output reliability. Conformal Prediction (CP), a model-agnostic method that generates prediction sets with a specified error rate, has been adopted for UQ in classification tasks, where the size of the prediction set indicates the model's uncertainty. However, when adapting CP to NLG, the sampling-based method for generating candidate outputs cannot guarantee the inclusion of the ground truth, limiting its applicability across a wide range of error rates. To address this, we propose \ourmethod, a method that explicitly adds the ground truth to the candidate outputs and uses logit scores to measure nonconformity. Our experiments with six LLMs on four NLG tasks show that \ourmethod outperforms baseline methods in calibrating error rates and empirical cover rates, offering accurate UQ across a wide range of user-specified error rates.

Navigating dynamic urban environments presents significant challenges for embodied agents, requiring advanced spatial reasoning and adherence to common-sense norms. Despite progress, existing visual navigation methods struggle in map-free or off-street settings, limiting the deployment of autonomous agents like last-mile delivery robots. To overcome these obstacles, we propose a scalable, data-driven approach for human-like urban navigation by training agents on thousands of hours of in-the-wild city walking and driving videos sourced from the web. We introduce a simple and scalable data processing pipeline that extracts action supervision from these videos, enabling large-scale imitation learning without costly annotations. Our model learns sophisticated navigation policies to handle diverse challenges and critical scenarios. Experimental results show that training on large-scale, diverse datasets significantly enhances navigation performance, surpassing current methods. This work shows the potential of using abundant online video data to develop robust navigation policies for embodied agents in dynamic urban settings. Project homepage is at https://ai4ce.github.io/CityWalker/.

Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control and state estimation. This work presents a novel proprioceptive state estimator for tensegrity robots. The estimator initially uses the geometric constraints of 3-bar prism tensegrity structures, combined with IMU and motor encoder measurements, to reconstruct the robot's shape and orientation. It then employs a contact-aided invariant extended Kalman filter with forward kinematics to estimate the global position and orientation of the tensegrity robot. The state estimator's accuracy is assessed against ground truth data in both simulated environments and real-world tensegrity robot applications. It achieves an average drift percentage of 4.2%, comparable to the state estimation performance of traditional rigid robots. This state estimator advances the state of the art in tensegrity robot state estimation and has the potential to run in real-time using onboard sensors, paving the way for full autonomy of tensegrity robots in unstructured environments.