{"id":"https://openalex.org/W7134846906","doi":"https://doi.org/10.48550/arxiv.2603.06842","title":"RoboCritics: Enabling Reliable End-to-End LLM Robot Programming through Expert-Informed Critics","display_name":"RoboCritics: Enabling Reliable End-to-End LLM Robot Programming through Expert-Informed Critics","publication_year":2026,"publication_date":"2026-03-06","ids":{"openalex":"https://openalex.org/W7134846906","doi":"https://doi.org/10.48550/arxiv.2603.06842"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.06842","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.06842","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"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":"https://doi.org/10.48550/arxiv.2603.06842","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128672742","display_name":"Callie Y. Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Callie Y.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128649196","display_name":"Nathan Thomas White","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"White, Nathan Thomas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108564188","display_name":"Evan Chang Ling He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Evan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128644651","display_name":"Frederic Sala","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sala, Frederic","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128635514","display_name":"Bilge Mutlu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mutlu, Bilge","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.3691999912261963,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3691999912261963,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.24279999732971191,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.07689999788999557,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.6651999950408936},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6514999866485596},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6309999823570251},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5626000165939331},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5371999740600586},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4959999918937683},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.48510000109672546},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4284000098705292},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4120999872684479}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6980999708175659},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.6651999950408936},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6514999866485596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6309999823570251},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5626000165939331},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5530999898910522},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5371999740600586},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5347999930381775},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4959999918937683},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.48510000109672546},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4284000098705292},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4120999872684479},{"id":"https://openalex.org/C50033165","wikidata":"https://www.wikidata.org/wiki/Q15712089","display_name":"Inductive programming","level":3,"score":0.41119998693466187},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.399399995803833},{"id":"https://openalex.org/C34165917","wikidata":"https://www.wikidata.org/wiki/Q188267","display_name":"Programming paradigm","level":2,"score":0.36500000953674316},{"id":"https://openalex.org/C99613125","wikidata":"https://www.wikidata.org/wiki/Q165194","display_name":"Application programming interface","level":2,"score":0.3472000062465668},{"id":"https://openalex.org/C77362995","wikidata":"https://www.wikidata.org/wiki/Q1135914","display_name":"Event-driven programming","level":5,"score":0.3447999954223633},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.31139999628067017},{"id":"https://openalex.org/C168402607","wikidata":"https://www.wikidata.org/wiki/Q2072119","display_name":"Personal robot","level":5,"score":0.3102000057697296},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.30709999799728394},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2935999929904938},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.2840999960899353},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.27489998936653137},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2671999931335449},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26579999923706055},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.26330000162124634},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.2542000114917755},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2531999945640564},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.06842","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.06842","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.06842","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.06842","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.520939826965332}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"End-user":[0],"robot":[1,38,79,147,190],"programming":[2,39,80,191],"grants":[3],"users":[4,132],"the":[5,20,31,35,125,134],"flexibility":[6],"to":[7,19,33,37,58,90,124,144,158],"re-task":[8],"robots":[9],"in":[10,68,133,139,151],"situ,":[11],"yet":[12],"it":[13,150],"remains":[14],"challenging":[15],"for":[16,22,95],"novices":[17],"due":[18],"need":[21],"specialized":[23],"robotics":[24,88],"knowledge.":[25],"Large":[26],"Language":[27],"Models":[28],"(LLMs)":[29],"hold":[30],"potential":[32],"lower":[34],"barrier":[36],"by":[40],"enabling":[41,127],"task":[42],"specification":[43],"through":[44],"natural":[45],"language.":[46],"However,":[47],"current":[48],"LLM-based":[49,78],"approaches":[50],"generate":[51],"opaque,":[52],"\"black-box\"":[53],"code":[54],"that":[55,76,119,182],"is":[56],"difficult":[57],"verify":[59],"or":[60],"debug,":[61],"creating":[62],"tangible":[63],"safety":[64,165],"and":[65,103,115,148,170,175,187],"reliability":[66],"risks":[67],"physical":[69],"systems.":[70],"We":[71,136],"present":[72],"RoboCritics,":[73],"an":[74],"approach":[75],"augments":[77],"with":[81,192],"expert-informed":[82],"motion-level":[83,92],"critics.":[84],"These":[85],"critics":[86,111],"encode":[87],"expertise":[89],"analyze":[91],"execution":[93,168],"traces":[94],"issues":[96],"such":[97],"as":[98],"joint":[99],"speed":[100],"violations,":[101,166],"collisions,":[102],"unsafe":[104],"end-effector":[105],"poses.":[106],"When":[107],"violations":[108],"are":[109],"detected,":[110],"surface":[112],"transparent":[113],"feedback":[114],"offer":[116],"one-click":[117],"fixes":[118],"forward":[120],"structured":[121],"messages":[122],"back":[123],"LLM,":[126],"iterative":[128],"refinement":[129],"while":[130],"keeping":[131],"loop.":[135],"instantiated":[137],"RoboCritics":[138,163,183],"a":[140,145,152,159],"web-based":[141],"interface":[142],"connected":[143],"UR3e":[146],"evaluated":[149],"between-subjects":[153],"user":[154],"study":[155],"(n=18).":[156],"Compared":[157],"baseline":[160],"LLM":[161],"interface,":[162],"reduced":[164],"improved":[167],"quality,":[169],"shaped":[171],"how":[172],"participants":[173],"verified":[174],"refined":[176],"their":[177],"programs.":[178],"Our":[179],"findings":[180],"demonstrate":[181],"enables":[184],"more":[185],"reliable":[186],"user-centered":[188],"end-to-end":[189],"LLMs.":[193]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-11T00:00:00"}