{"id":"https://openalex.org/W7225334649","doi":"https://doi.org/10.5281/zenodo.23974456","title":"Reliability-Aware Multimodal Attention and Adaptive Feedback in Low-Cost Social Robotics: A Five-Seed Perception-to-Action Evaluation","display_name":"Reliability-Aware Multimodal Attention and Adaptive Feedback in Low-Cost Social Robotics: A Five-Seed Perception-to-Action Evaluation","publication_year":2026,"publication_date":"2026-11-05","ids":{"openalex":"https://openalex.org/W7225334649","doi":"https://doi.org/10.5281/zenodo.23974456"},"language":"en","primary_location":{"id":"doi:10.5281/zenodo.23974456","doi":"https://doi.org/10.5281/zenodo.23974456","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.23974456","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.5281/zenodo.23974456","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5160759696","display_name":"Tidas Silva","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Silva, Tidas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5160759696"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.4169999957084656,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.4169999957084656,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.37770000100135803,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.09910000115633011,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multimodal-attention","display_name":"multimodal attention","score":0.9440000057220459},{"id":"https://openalex.org/keywords/sensor-degradation","display_name":"sensor degradation","score":0.5659999847412109},{"id":"https://openalex.org/keywords/out-of-distribution-robustness","display_name":"out-of-distribution robustness","score":0.7509999871253967},{"id":"https://openalex.org/keywords/failure-analysis","display_name":"failure analysis","score":0.6439999938011169},{"id":"https://openalex.org/keywords/pybullet-simulation","display_name":"PyBullet simulation","score":0.5210000276565552}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6312000155448914},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5764999985694885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4684000015258789},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4465000033378601},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.4138999879360199},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39320001006126404},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.36910000443458557},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.3628000020980835},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3619999885559082},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3285999894142151},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.32420000433921814},{"id":"https://openalex.org/C2779332521","wikidata":"https://www.wikidata.org/wiki/Q1820694","display_name":"Legibility","level":2,"score":0.3228999972343445},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32010000944137573},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.31150001287460327},{"id":"https://openalex.org/C117220453","wikidata":"https://www.wikidata.org/wiki/Q5172842","display_name":"Correlation","level":2,"score":0.31049999594688416},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.29980000853538513},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.29339998960494995},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2732999920845032},{"id":"https://openalex.org/C2781085045","wikidata":"https://www.wikidata.org/wiki/Q7318308","display_name":"Reversing","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2709999978542328},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26080000400543213},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25850000977516174},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.25209999084472656},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.25200000405311584},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.5281/zenodo.23974456","doi":"https://doi.org/10.5281/zenodo.23974456","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.23974456","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},{"id":"doi:10.5281/zenodo.23974457","doi":"https://doi.org/10.5281/zenodo.23974457","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.23974457","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.5281/zenodo.23974456","doi":"https://doi.org/10.5281/zenodo.23974456","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.23974456","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2616612919","https://openalex.org/W7220942745","https://openalex.org/W3114054795","https://openalex.org/W2146845747","https://openalex.org/W3148716168","https://openalex.org/W7165458711","https://openalex.org/W7221026093","https://openalex.org/W7212967779","https://openalex.org/W3152787834","https://openalex.org/W7134922646"],"abstract_inverted_index":{"This":[0],"preprint":[1],"reports":[2],"a":[3,7,37,45,53,63,72,88,172,181,185,246,251,257,261,270,283],"negative":[4],"result":[5],"from":[6,124,277],"controlled":[8],"simulation":[9,154,278],"study":[10,70],"of":[11],"low-cost":[12],"social":[13],"robots":[14],"that":[15,26,51],"must":[16],"act":[17],"on":[18,161],"visual,":[19],"pose,":[20],"state,":[21],"language,":[22],"and":[23,60,85,105,133,196,250,269,282],"temporal":[24],"observations":[25],"may":[27],"be":[28],"degraded":[29],"or":[30,290],"stale.":[31],"It":[32,92,244],"evaluates":[33],"two":[34],"mechanisms":[35],"in":[36,227],"physically":[38],"actuated":[39],"PyBullet":[40],"differential-drive":[41],"environment:":[42],"(1)":[43],"MDTA,":[44,84],"reliability-biased":[46],"joint":[47],"multimodal":[48],"attention":[49,58],"block":[50],"adds":[52],"learned":[54],"reliability":[55,192],"log-bias":[56],"to":[57,117,126,137],"logits,":[59],"(2)":[61],"RA-AFL,":[62,86],"reliability-aware":[64],"adaptive":[65],"feedback":[66,187,255],"learning":[67],"procedure.":[68],"The":[69,128,222,237],"uses":[71],"2":[73,75,77],"\u00d7":[74,76],"factorial":[78],"ablation":[79],"over":[80],"log-polar":[81,118],"visual":[82],"tokenization,":[83],"plus":[87],"matched":[89],"Cartesian-48":[90],"control.":[91],"spans":[93],"five":[94],"independent":[95],"training":[96],"seeds,":[97],"1,080":[98],"episodes":[99,110],"(51,832":[100],"transitions),":[101],"eight":[102],"sensor-corruption":[103],"conditions,":[104],"90":[106],"paired":[107],"out-of-distribution":[108],"closed-loop":[109,140],"per":[111],"policy.":[112],"Key":[113],"findings:":[114],"Adding":[115],"MDTA":[116],"tokenization":[119],"lowered":[120],"OOD":[121],"intention":[122],"accuracy":[123],"94.72%":[125],"86.46%.":[127],"full":[129,143],"configuration":[130],"reached":[131],"84.59%":[132],"raised":[134],"expert-action":[135],"MAE":[136],"0.1112.":[138],"In":[139],"evaluation,":[141],"the":[142,152,228,254],"policy":[144],"achieved":[145],"34.44%":[146],"task":[147],"success":[148],"versus":[149,163],"91.11%":[150],"for":[151,253],"privileged":[153,284],"expert,":[155],"while":[156],"travelling":[157],"only":[158],"0.0396":[159],"m":[160],"average":[162],"0.9083":[164],"m.":[165],"Its":[166],"zero":[167,200],"observed":[168],"collision":[169],"rate":[170],"reflects":[171],"near-stationary":[173],"policy,":[174],"not":[175,235,240],"safe":[176],"navigation.":[177],"Code":[178],"inspection":[179],"identifies":[180],"mechanism:":[182],"RA-AFL":[183],"trains":[184],"zero-action":[186],"target":[188,224],"when":[189,202],"minimum":[190],"modality":[191],"falls":[193,204],"below":[194,205],"0.38,":[195],"runtime":[197],"gating":[198],"forces":[199],"action":[201],"trust":[203],"0.28,":[206],"which":[207],"encourages":[208],"stopping":[209],"under":[210],"uncertainty.":[211],"Reliability":[212],"calibration":[213],"was":[214,225],"weak,":[215],"with":[216,279],"some":[217],"Spearman":[218],"correlations":[219],"near":[220],"zero.":[221],"state":[223],"constant":[226],"severe-condition":[229],"subset,":[230],"so":[231],"its":[232],"correlation":[233],"is":[234],"estimable.":[236],"paper":[238],"does":[239],"claim":[241],"performance":[242],"superiority.":[243],"provides":[245],"transparent":[247],"failure":[248],"analysis":[249],"redesign":[252],"objective:":[256],"task-conditioned":[258],"safe-action":[259],"set,":[260],"progress":[262],"term,":[263],"independently":[264],"supervised":[265],"corruption,":[266],"abstention":[267],"metrics,":[268],"verified":[271],"safety":[272],"filter.":[273],"All":[274],"results":[275],"are":[276,293],"scripted":[280],"agents":[281],"simulator":[285],"expert.":[286],"No":[287],"real-robot,":[288],"human-subject,":[289],"sim-to-real":[291],"claims":[292],"made.":[294]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-11-06T00:00:00"}
