The Doctor, does indeed, sense someone telepathically, brushing on top of him. Which is okay, as they aren't probing. However, The Doctor can't tell what they are either. He hasn't felt that sort of vibes before. He does look up and doesn't find a humanoid but rather a strange creature.

"Hallo." The Doctor remarks to the creature, "Are you trying to see if I can be trusted?"

Ten then notices that there is someone humanoid near the creature. Oh, someone else that also recognizes him. It's clear from how he's looking at Leia he doesn't know who she is.

"Yes! Very much so!" The Doctor beams and pops over to the seat.

"You seem to know me. So who are you and who is your friend?"