{"id":"https://openalex.org/W7152015626","doi":"https://doi.org/10.48550/arxiv.2604.04967","title":"Belief Dynamics for Detecting Behavioral Shifts in Safe Collaborative Manipulation","display_name":"Belief Dynamics for Detecting Behavioral Shifts in Safe Collaborative Manipulation","publication_year":2026,"publication_date":"2026-04-04","ids":{"openalex":"https://openalex.org/W7152015626","doi":"https://doi.org/10.48550/arxiv.2604.04967"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.04967","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04967","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":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.2604.04967","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022144754","display_name":"Devashri Naik","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Naik, Devashri","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085572182","display_name":"Divake Kumar","orcid":"https://orcid.org/0009-0008-2165-2258"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kumar, Divake","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087116179","display_name":"Nastaran Darabi","orcid":"https://orcid.org/0000-0003-2163-4267"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Darabi, Nastaran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5028132107","display_name":"Amit Ranjan Trivedi","orcid":"https://orcid.org/0000-0001-5436-7922"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Trivedi, Amit Ranjan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022144754"],"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":0.7723000049591064,"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":0.7723000049591064,"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":0.07259999960660934,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.02810000069439411,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.6087999939918518},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5335999727249146},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5250999927520752},{"id":"https://openalex.org/keywords/oracle","display_name":"Oracle","score":0.5184000134468079},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.43299999833106995},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39259999990463257},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.37790000438690186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35830000042915344},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.34200000762939453}],"concepts":[{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.6087999939918518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6039999723434448},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5335999727249146},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5250999927520752},{"id":"https://openalex.org/C55166926","wikidata":"https://www.wikidata.org/wiki/Q2892946","display_name":"Oracle","level":2,"score":0.5184000134468079},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.43299999833106995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.400299996137619},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39259999990463257},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.37790000438690186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35830000042915344},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.34200000762939453},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.34119999408721924},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32839998602867126},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3269999921321869},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3147999942302704},{"id":"https://openalex.org/C137270730","wikidata":"https://www.wikidata.org/wiki/Q120811","display_name":"Detection theory","level":3,"score":0.30570000410079956},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.305400013923645},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.2903999984264374},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.28189998865127563},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.27219998836517334},{"id":"https://openalex.org/C2780689630","wikidata":"https://www.wikidata.org/wiki/Q2081815","display_name":"Driving simulator","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2669000029563904},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.26460000872612},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C2777894999","wikidata":"https://www.wikidata.org/wiki/Q4781758","display_name":"Approx","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.04967","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04967","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":"doi:10.48550/arxiv.2604.04967","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04967","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":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":0.48069751262664795}],"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":[2,56,198],"shared":[3],"workspaces":[4],"must":[5],"maintain":[6],"safe":[7],"coordination":[8],"with":[9],"other":[10],"agents":[11],"whose":[12],"behavior":[13],"may":[14],"change":[15],"during":[16],"task":[17],"execution.":[18],"When":[19],"a":[20,84,107,180,217],"collaborating":[21],"agent":[22],"switches":[23,167],"strategy":[24],"mid-episode,":[25],"continuing":[26],"under":[27,53,83,97],"outdated":[28],"assumptions":[29],"can":[30],"lead":[31],"to":[32,94,179],"unsafe":[33],"actions":[34],"and":[35,65,124,130,145,168,206],"increased":[36],"collision":[37],"risk.":[38],"Reliable":[39],"detection":[40,52,63,70,90,137,225],"of":[41,87,203,216],"such":[42],"behavioral":[43],"regime":[44,166],"changes":[45],"is":[46],"therefore":[47],"critical.":[48],"We":[49,104],"study":[50],"regime-switch":[51,224],"controlled":[54],"non-stationarity":[55],"ManiSkill":[57],"shared-workspace":[58],"manipulation":[59],"tasks.":[60],"Across":[61,127],"ten":[62],"methods":[64,101,141],"five":[66,128],"random":[67],"seeds,":[68],"enabling":[69,222],"reduces":[71],"post-switch":[72],"collisions":[73],"by":[74,163,189],"52%.":[75],"However,":[76],"average":[77],"performance":[78],"hides":[79],"significant":[80],"reliability":[81],"differences:":[82],"realistic":[85],"tolerance":[86],"+-3":[88],"steps,":[89],"ranges":[91],"from":[92],"86%":[93],"30%,":[95],"while":[96,174],"+-5":[98],"steps":[99],"all":[100],"achieve":[102],"100%.":[103],"introduce":[105],"UA-TOM,":[106],"lightweight":[108],"belief-tracking":[109],"module":[110],"that":[111],"augments":[112],"frozen":[113],"vision-language-action":[114],"(VLA)":[115],"control":[116,220],"backbones":[117],"using":[118],"selective":[119],"state-space":[120],"dynamics,":[121],"causal":[122,204],"attention,":[123],"prediction-error":[125,207],"signals.":[126,208],"seeds":[129],"1200":[131],"episodes,":[132],"UA-TOM":[133,209],"achieves":[134],"the":[135,146,175,228],"highest":[136],"rate":[138],"among":[139],"unassisted":[140],"(85.7%":[142],"at":[143,165],"+-3)":[144],"lowest":[147],"close-range":[148],"time":[149],"(4.8":[150],"steps),":[151],"outperforming":[152],"an":[153],"Oracle":[154],"(5.3":[155],"steps).":[156],"Analysis":[157],"shows":[158],"hidden-state":[159],"update":[160],"magnitude":[161],"increases":[162],"17x":[164],"decays":[169],"over":[170],"roughly":[171],"10":[172],"timesteps,":[173],"discretization":[176],"step":[177],"converges":[178],"near-constant":[181],"value":[182],"(Delta_t":[183],"approx":[184],"0.78),":[185],"indicating":[186],"sensitivity":[187],"driven":[188],"learned":[190],"dynamics":[191],"rather":[192],"than":[193],"input-dependent":[194],"gating.":[195],"Cross-domain":[196],"experiments":[197],"Overcooked":[199],"show":[200],"complementary":[201],"roles":[202],"attention":[205],"introduces":[210],"7.4":[211],"ms":[212,219],"inference":[213],"overhead":[214],"(14.8%":[215],"50":[218],"budget),":[221],"reliable":[223],"without":[226],"modifying":[227],"base":[229],"policy.":[230]},"counts_by_year":[],"updated_date":"2026-05-01T08:36:08.643496","created_date":"2026-04-09T00:00:00"}