{"id":"https://openalex.org/W7128694960","doi":"https://doi.org/10.48550/arxiv.2602.10289","title":"A Human-in-the-Loop Confidence-Aware Failure Recovery Framework for Modular Robot Policies","display_name":"A Human-in-the-Loop Confidence-Aware Failure Recovery Framework for Modular Robot Policies","publication_year":2026,"publication_date":"2026-02-10","ids":{"openalex":"https://openalex.org/W7128694960","doi":"https://doi.org/10.48550/arxiv.2602.10289"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.10289","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052089966","display_name":"Rohan Banerjee","orcid":"https://orcid.org/0000-0001-9235-0478"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Banerjee, Rohan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125692963","display_name":"Krishna Palempalli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Palempalli, Krishna","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125690556","display_name":"Bohan Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Bohan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114202378","display_name":"J. Fang","orcid":"https://orcid.org/0000-0001-8091-626X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Jiaying","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125694267","display_name":"Alif Abdullah","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abdullah, Alif","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062346810","display_name":"Tom Silver","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Silver, Tom","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125729153","display_name":"Sarah Dean","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dean, Sarah","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5026083794","display_name":"Tapomayukh Bhattacharjee","orcid":"https://orcid.org/0000-0001-9457-5726"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bhattacharjee, Tapomayukh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":[],"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.6115999817848206,"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"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.6115999817848206,"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":0.1005999967455864,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.07180000096559525,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7376000285148621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7369999885559082},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.7268000245094299},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.725600004196167},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.49459999799728394},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.31619998812675476}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7376000285148621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7369999885559082},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.7268000245094299},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.725600004196167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7200000286102295},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.49459999799728394},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3822000026702881},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36149999499320984},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31619998812675476},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.28349998593330383},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C61641136","wikidata":"https://www.wikidata.org/wiki/Q1107019","display_name":"Cognitive load","level":3,"score":0.26570001244544983},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.265500009059906}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.10289","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.10289","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.10289","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.10289","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robots":[0],"operating":[1],"in":[2,10,136,167,211],"unstructured":[3],"human":[4,34,71,84,123,201],"environments":[5],"inevitably":[6],"encounter":[7],"failures,":[8],"especially":[9],"robot":[11,198],"caregiving":[12],"scenarios.":[13],"While":[14],"humans":[15],"can":[16,203,218],"often":[17,66],"help":[18],"robots":[19],"recover,":[20],"excessive":[21],"or":[22,125],"poorly":[23],"targeted":[24],"queries":[25],"impose":[26],"unnecessary":[27],"cognitive":[28],"and":[29,58,65,93,115,133,148,151,165,174,200,207,216],"physical":[30],"workload":[31,186],"on":[32,159,188],"the":[33,97,108,157,185],"partner.":[35],"We":[36,128],"present":[37],"a":[38,47,104,116,160],"human-in-the-loop":[39],"failure-recovery":[40],"framework":[41,74,158],"for":[42,113],"modular":[43],"robotic":[44],"policies,":[45],"where":[46],"policy":[48],"is":[49],"composed":[50],"of":[51,61,70,78,83],"distinct":[52],"modules":[53],"such":[54],"as":[55],"perception,":[56],"planning,":[57],"control,":[59],"any":[60],"which":[62,89],"may":[63],"fail":[64],"require":[67],"different":[68],"forms":[69],"feedback.":[72],"Our":[73,190],"integrates":[75],"calibrated":[76],"estimates":[77],"module-level":[79],"uncertainty":[80,199],"with":[81,171],"models":[82],"intervention":[85],"cost":[86],"to":[87,91,95,121,146],"decide":[88],"module":[90,105,109],"query":[92,96],"when":[94],"human.":[98],"It":[99],"separates":[100],"these":[101],"two":[102],"decisions:":[103],"selector":[106],"identifies":[107],"most":[110],"likely":[111],"responsible":[112],"failure,":[114],"querying":[117,134],"algorithm":[118],"determines":[119],"whether":[120],"solicit":[122],"input":[124],"act":[126],"autonomously.":[127],"evaluate":[129],"several":[130],"module-selection":[131],"strategies":[132],"algorithms":[135],"controlled":[137],"synthetic":[138],"experiments,":[139],"revealing":[140],"trade-offs":[141],"between":[142],"recovery":[143,181,210],"efficiency,":[144],"robustness":[145],"system":[147,164],"user":[149,152],"variables,":[150],"workload.":[153],"Finally,":[154],"we":[155],"deploy":[156],"robot-assisted":[161],"bite":[162],"acquisition":[163],"demonstrate,":[166],"studies":[168],"involving":[169],"individuals":[170],"both":[172,197],"emulated":[173],"real":[175],"mobility":[176],"limitations,":[177],"that":[178],"it":[179],"improves":[180],"success":[182],"while":[183],"reducing":[184],"imposed":[187],"users.":[189],"results":[191],"highlight":[192],"how":[193],"explicitly":[194],"reasoning":[195],"about":[196],"effort":[202],"enable":[204],"more":[205],"efficient":[206],"user-centered":[208],"failure":[209],"collaborative":[212],"robots.":[213],"Supplementary":[214],"materials":[215],"videos":[217],"be":[219],"found":[220],"at:":[221],"http://emprise.cs.cornell.edu/modularhil":[222]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-13T00:00:00"}