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Introspection in Learned Semantic Scene Graph Localisation
Manshika Charvi Bissessur, Efimia Panagiotaki, Daniele De Martini
https://arxiv.org/abs/2510.07053 https://

Introspection in Learned Semantic Scene Graph Localisation
This work investigates how semantics influence localisation performance and robustness in a learned self-supervised, contrastive semantic localisation framework. After training a localisation network on both original and perturbed maps, we conduct a thorough post-hoc introspection analysis to probe whether the model filters environmental noise and prioritises distinctive landmarks over routine clutter. We validate various interpretability methods and present a comparative reliability analysis. …