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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Effects of Robot Competency and Motion Legibility on Huma...
Shuangge Wang, Anjiabei Wang, Sofiya Goncharova, Brian Scassella · 2025-01-07 · via cs.RO updates on arXiv.org

As robot deployments become more commonplace, people are likely to take on the role of supervising robots (i.e., correcting their mistakes) rather than directly teaching them. Prior works on Learning from Corrections (LfC) have relied on three key assumptions to interpret human feedback: (1) people correct the robot only when there is significant task objective divergence; (2) people can accurately predict if a correction is necessary; and (3) people trade off precision and physical effort when giving corrections. In this work, we study how two key factors (robot competency and motion legibility) affect how people provide correction feedback and their implications on these existing assumptions. We conduct a user study ($N=60$) under an LfC setting where participants supervise and correct a robot performing pick-and-place tasks. We find that people are more sensitive to suboptimal behavior by a highly competent robot compared to an incompetent robot when the motions are legible ($p=0.0015$) and predictable ($p=0.0055$). In addition, people also tend to withhold necessary corrections ($p < 0.0001$) when supervising an incompetent robot and are more prone to offering unnecessary ones ($p = 0.0171$) when supervising a highly competent robot. We also find that physical effort positively correlates with correction precision, providing empirical evidence to support this common assumption. We also find that this correlation is significantly weaker for an incompetent robot with legible motions than an incompetent robot with predictable motions ($p = 0.0075$). Our findings offer insights for accounting for competency and legibility when designing robot interaction behaviors and learning task objectives from corrections.