In truth, when they're quoting the scientists as saying "There's no telepathy, it's impossible." they're quoting something where the scientists theorized that thought-transference wouldn't work. Which is similar but different.
Yes, Taylor is telepathic – she transmits information via. yet-unknown channels to her bugs, who respond, and through these same channels, she gets very frequent (to the point that it feels real-time) updates on her bugs' positions, biology/status, etc. in what's sort of a very rapid, hyper-detailed echolocation.
Meanwhile, thought-transference is more the 'put thoughts in other people's heads, or take thoughts out of other's heads and understand them.'