Coordinate Singularities Break Conformal Coverage for Gaze and Head Pose

Egocentric pose estimation for Augmented Reality (AR) and assistive devices requires not just accurate predictions but guaranteed uncertainty regions. Conformal prediction (CP) provides such guarantees without retraining, but we show that standard CP with a single fixed threshold achieves nominal 90% overall coverage while covering only ~60% of the hardest 25% of frames (Q4) -- a ~30 percentage-point conditional coverage gap consistent across 12 participants, 3 predictors, and 3 horizons (108 evaluations) on EPIC-Fields. We further show that a geodesic SE(3) nonconformity score identifies physically harder frames than Euclidean scoring, with only 15-26% Q4 overlap and 2-3x higher ground-truth camera displacement for geodesic Q4 frames. To close the coverage gap, we propose DINOv2-Bridge adaptive CP: a two-stage difficulty estimator trained on a single source participant that transfers cross-participant without any images at test time, improving Q4 coverage from ~0.75 to ~0.93 while maintaining overall coverage at the 90% target.

Constructing valid and informative conformal prediction regions for multi-dimensional outputs remains a fundamental challenge. While conformal prediction provides finite-sample, distribution-free coverage guarantees, its practical performance critically depends on the choice of nonconformity score. Existing approaches often rely on restrictive geometric assumptions or require explicit likelihood evaluation and invertible transformations, limiting their applicability in complex generative settings. In this work, we introduce TRACE (TRansport Alignment Conformal Estimation), a conformal prediction framework that defines nonconformity through transport alignment in diffusion and flow matching models. Rather than evaluating likelihoods, we measure how well a candidate output aligns with the learned generative dynamics by averaging denoising or velocity-matching errors along stochastic transport trajectories. The resulting transport-based scores are scalar-valued and can be calibrated using split conformal prediction, yielding valid marginal coverage under exchangeability. We further analyze the statistical properties of the proposed scores and their sensitivity to computational budget. Experiments on synthetic and real datasets demonstrate valid coverage and show that the resulting regions adapt naturally to multimodal and non-convex conditional distributions.

Conformal prediction (CP) gives distribution-free coverage for modern vision and language models, but it is often forced to make a ranking decision from a single unstable nonconformity score. Standard CP uses one realization, while average-then-calibrate variants smooth multiple realizations into a point estimate. Both options discard the inconsistency that can help identify whether a candidate is indeed stable. A weak answer can enter the conformal set even if the evidence is not strong, simply because one posterior sample or prompt phrasing made it look strong. But variability can help distinguish a stable signal from noise-driven fluctuations. We describe an empirical Bayes conformal prediction framework that uses $r$-values to convert score variability into an uncertainty informed nonconformity score. The resulting $r$-value estimates how likely a candidate's latent score belongs to the top-ranked group after accounting for both its mean score and its uncertainty. It admits both a closed-form Normal-Normal empirical Bayes estimator and a nonparametric posterior-sampling estimator. Using the $r$-value as the nonconformity score preserves the target conformal coverage while provably reducing the inclusion of high variance false candidates under mild regularity conditions. Across image classification, CLIP-based VLM benchmarks, and LLMs, we show that $r$-value conformal prediction preserves target coverage while improving ranking stability and reducing set size when variability is informative, and reverting to CP-like behavior when variability vanishes.