Language as a Sensor: Calibrated Spatial Belief Estimation in 3D Scenes from Natural Language

摘要

Robots deployed in human-centric environments routinely receive natural-language descriptions of spatial information ("I left my backpack on the table") that reference parts of the world beyond their perceptual field of view. Traditional metric-semantic mapping ignores this signal, while off-the-shelf multimodal models remain limited in 3D spatial reasoning and are not directly amenable to fusion with other sensor modalities. To convert language observations into a calibrated spatial distribution, we train a Language Sensor Model (LSM) that maps each utterance and its scene-graph context to a multimodal distribution, with mixture weights encoding referential ambiguity (e.g., "which table") and component covariances encoding spatial uncertainty (e.g., where "on the table" the target lies). We then introduce VL-Map (Vision-Language Metric-Semantic Mapping), a probabilistic framework that treats these language predictions as stochastic observations and fuses them with onboard perception within a unified belief map. On the VLA-3D benchmark as well as on a real-world mobile robot, LSM is the only language predictor whose covariance estimates remain within the calibrated regime; fused into VL-Map, it leads to more accurate predictions of the target object location (~70% more probability mass on the true target compared to the strongest foundation-model baseline).