{"id":"https://openalex.org/W4415821517","doi":"https://doi.org/10.1109/ro-man63969.2025.11217610","title":"LLM-based ambiguity detection in natural language instructions for collaborative surgical robots","display_name":"LLM-based ambiguity detection in natural language instructions for collaborative surgical robots","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4415821517","doi":"https://doi.org/10.1109/ro-man63969.2025.11217610"},"language":null,"primary_location":{"id":"doi:10.1109/ro-man63969.2025.11217610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046731206","display_name":"Ana Davila","orcid":"https://orcid.org/0000-0002-2076-6842"},"institutions":[{"id":"https://openalex.org/I4210136895","display_name":"Institute for the Future","ror":"https://ror.org/049tcsg76","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210136895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ana Davila","raw_affiliation_strings":["Nagoya University,Institutes of Innovation for Future Society,Japan,464-8601"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nagoya University,Institutes of Innovation for Future Society,Japan,464-8601","institution_ids":["https://openalex.org/I4210136895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081397540","display_name":"Jacinto Colan","orcid":"https://orcid.org/0000-0002-8833-2215"},"institutions":[{"id":"https://openalex.org/I119031078","display_name":"Nanzan University","ror":"https://ror.org/042b6j696","country_code":"JP","type":"education","lineage":["https://openalex.org/I119031078"]},{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jacinto Colan","raw_affiliation_strings":["Nagoya University,Department of Micro-Nano Mechanical Science and Engineering,Japan,464-8603"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nagoya University,Department of Micro-Nano Mechanical Science and Engineering,Japan,464-8603","institution_ids":["https://openalex.org/I60134161","https://openalex.org/I119031078"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067104092","display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[{"id":"https://openalex.org/I4210136895","display_name":"Institute for the Future","ror":"https://ror.org/049tcsg76","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210136895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hasegawa","raw_affiliation_strings":["Nagoya University,Institutes of Innovation for Future Society,Japan,464-8601"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nagoya University,Institutes of Innovation for Future Society,Japan,464-8601","institution_ids":["https://openalex.org/I4210136895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1495,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94541189,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1581","last_page":"1586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.32339999079704285,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.32339999079704285,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.19750000536441803,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11636","display_name":"Artificial Intelligence in Healthcare and Education","score":0.14079999923706055,"subfield":{"id":"https://openalex.org/subfields/2718","display_name":"Health Informatics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.8432999849319458},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.6238999962806702},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5710999965667725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46560001373291016},{"id":"https://openalex.org/keywords/natural","display_name":"Natural (archaeology)","score":0.3440999984741211},{"id":"https://openalex.org/keywords/natural-language-understanding","display_name":"Natural language understanding","score":0.3359000086784363}],"concepts":[{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.8432999849319458},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7537000179290771},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.6238999962806702},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5710999965667725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5299000144004822},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.507099986076355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46560001373291016},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42590001225471497},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.3359000086784363},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3068999946117401},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.27950000762939453},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.27410000562667847},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2612999975681305}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man63969.2025.11217610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1574491227","https://openalex.org/W2048279992","https://openalex.org/W2066638673","https://openalex.org/W2556673367","https://openalex.org/W3134208240","https://openalex.org/W3182378778","https://openalex.org/W4220786111","https://openalex.org/W4316662143","https://openalex.org/W4382053031","https://openalex.org/W4383108457","https://openalex.org/W4383109104","https://openalex.org/W4388182168","https://openalex.org/W4389918662","https://openalex.org/W4392449524","https://openalex.org/W4393388428","https://openalex.org/W4398793540","https://openalex.org/W4404576844","https://openalex.org/W4404782681","https://openalex.org/W4404783547","https://openalex.org/W4405785727","https://openalex.org/W4406022307","https://openalex.org/W4406949335"],"related_works":[],"abstract_inverted_index":{"Ambiguity":[0],"in":[1,8,13,109,126],"natural":[2],"language":[3],"instructions":[4,136],"poses":[5],"significant":[6],"risks":[7],"safety-critical":[9],"human-robot":[10,124],"interaction,":[11],"particularly":[12],"domains":[14],"such":[15],"as":[16],"surgery.":[17],"To":[18],"address":[19],"this,":[20],"we":[21,103],"propose":[22],"a":[23,91,130],"framework":[24],"that":[25],"uses":[26],"Large":[27],"Language":[28],"Models":[29],"(LLMs)":[30],"for":[31,36,72],"ambiguity":[32],"detection":[33],"specifically":[34],"designed":[35],"collaborative":[37],"surgical":[38,114],"scenarios.":[39],"Our":[40,116],"method":[41],"employs":[42],"an":[43],"ensemble":[44],"of":[45,123],"LLM":[46],"evaluators,":[47],"each":[48],"configured":[49],"with":[50],"distinct":[51],"prompting":[52],"techniques":[53],"to":[54,67,90,132],"identify":[55,133],"linguistic,":[56],"contextual,":[57],"procedural,":[58],"and":[59,99,121],"critical":[60],"ambiguities.":[61],"A":[62],"chain-of-thought":[63],"evaluator":[64,76],"is":[65],"included":[66],"systematically":[68],"analyze":[69],"instruction":[70],"structure":[71],"potential":[73],"issues.":[74],"Individual":[75],"assessments":[77],"are":[78],"synthesized":[79],"through":[80],"conformal":[81],"prediction,":[82],"which":[83],"yields":[84],"non-conformity":[85],"scores":[86],"based":[87],"on":[88],"comparison":[89],"labeled":[92],"calibration":[93],"dataset.":[94],"Evaluating":[95],"Llama":[96],"3.2":[97],"11B":[98],"Gemma":[100],"3":[101],"12B,":[102],"observed":[104],"classification":[105],"accuracy":[106],"exceeding":[107],"60%":[108],"differentiating":[110],"ambiguous":[111,135],"from":[112],"unambiguous":[113],"instructions.":[115],"approach":[117],"improves":[118],"the":[119],"safety":[120],"reliability":[122],"collaboration":[125],"surgery":[127],"by":[128],"offering":[129],"mechanism":[131],"potentially":[134],"before":[137],"robot":[138],"action.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-11-03T00:00:00"}