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A central challenge for creating coherent teamwork in human-robot teams is maintaining mutual awareness of team member activities and ongoing task alignment. Hereby, human intention recognition is fundamental to enabling effective adaptation of robotic team members. Existing approaches either focus on short-term motion prediction or lack principled links between intention recognition and adaptive planning. We propose a unified framework as a robot agent architecture that based on hierarchical task decomposition links observable behaviors to high-level tasks planning. The framework contributes three key advances: (i) unified representation of both assigned tasks and models of foreseeable human behavior, (ii) integration of intention recognition with adaptive planning, and (iii) cost-based multi-level planning for task reallocation and motion adaptation. We illustrate its functioning in a manufacturing scenario in which humans and robots collaborate.

AAAI 2026

Intention-Aware Adaptive Planning in Human-Robot Teams

adaptive planning

behavior representation

intention recognition

**31st IEEE International Conference on Robot & Human Interactive Communication**
 This conference is a leading forum where state-of-the-art innovative results, the latest developments as well as future perspectives relating to robot and human interactive communication are presented and discussed.
 
 The conference covers a wide range of topics related to Robot and Human Interactive Communication, involving theories, methodologies, technologies, empirical and experimental studies. Papers related to the study of robotic technology, psychology, cognitive science, artificial intelligence, human factors, ethics and policies, interaction-based robot design and other topics related to human-robot interaction are welcome.
 
 **CONFERENCE THEME:**
 Social, asocial, and antisocial robots
 
 Robots are starting to populate our lives: at work, in our homes, hotels, shops. However, not everybody is comfortable with robots finding a place in society. For example, people may be afraid that robots will replace humans in their jobs. This belief is exacerbated by the media that, on one side, raise expectations of robots’ capabilities, while amplifying fears and worries on the other side.
 
 In the next years, due to the increasing request for interaction with people in social environments, academic research and market analyses predict that robots will become more and more “social”. But, at the same time, robots may incur the risk of being perceived as “asocial” as their pervasiveness in everyday environments may become an obstacle to social interaction between humans. Or they may even be rejected as “antisocial” if researchers do not take care to develop robots that behave according to the customs and habits of the communities where they are expected to operate.
 
 To prevent this from happening, robotic researchers can no longer take the luxury of being mere technicians. They must be capable of addressing all the challenges raised by future robot-populated communities in a multidisciplinary way. They need to share their knowledge with the public to make people aware of what robots really are, what expectations we can have from them, the risks we may incur, and the possible mitigation plans.
 
 While being open to any kind of contribution related to Human-Robot Interactive Communication, the RO-MAN 2022 conference will emphasize these aspects of robotic research. How can we create robots capable of being welcomed as our assistants and companions in society while, at the same time, not being perceived as “asocial” or “antisocial?” How can we create robots perceived as facilitators of the natural development of human beings and communities, rather than obstacles?
 
 Contributions from different disciplines, not exclusively related to technological development, will be welcomed as crucial to pave the way to global acceptance of future robots with an informed attitude.
 
 [![](https://assets.underline.io/uploads/markdown_image/1/image/af259abe105b3791c498ae1552d75710.png)](https://drive.google.com/file/d/18w73BZPB_JVOgcrcdZDqYpEupwVt4CnU/view?usp=sharing)

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IEEE RO-MAN 2022

31st IEEE International Conference on Robot & Human Interactive Communication
This conference is a leading forum where state-of-the-art innovative results, the latest developments as well as future perspectives relating to robot and human interactive communication are presented and discussed.

workshop paper

We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

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We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

In this paper, we propose ChatRearrange, a novel framework for the text-guided 3D scene rearrangement task. Instructing an algorithm with a text description to rearrange 3D furniture objects remains an unsolved problem in the 3D field. Unfortunately, developing algorithms to address this problem presents two critical challenges. First, we lack appropriate text-labeled scene data for the training procedure. Second, evaluating performance is challenging due to the absence of appropriate benchmarks. To address the first issue, we propose the ChatRearrange framework, which includes an LLM-based Inverse Distillation algorithm, enabling ChatRearrange to train without description-labeled scene data. Additionally, we incorporate a novel gradient-field-based student network to learn the text-3D knowledge from the LLM. For the second challenge, we benchmark the text-guided 3D scene rearrangement task by proposing a new dataset called TextRoom. We also include various metrics for the evaluation. The results show that our algorithm outperforms other baselines by a large margin. We are committed to releasing all the code and dataset if the paper is accepted.

ChatRearrange: Learning Text-guided 3D Scene Rearrangement

3D assembly tasks require automatic agents’ precise interpretations of visual scenes and structural reasoning. While large Vision-Language Models (VLMs) have shown promising capabilities in general Visual Question Answering (VQA), existing benchmarks inadequately reflect the complexities inherent in assembly reasoning. In this paper, we introduce FurniBench, an assembly-specific VQA benchmark, together with FurniQA, a large-scale dataset covering tasks such as part recognition, connection reasoning, and step ordering. Using Qwen2-VL-2B-Instruct as a base model (39.1% accuracy on FurniBench), we first establish a supervised fine-tuning (SFT) baseline, which highlights both the benefits and the limitations of SFT in this domain. Building on this, we propose Assembly-R1, trained with Group Relative Policy Optimization (GRPO), which substantially enhances reasoning ability and achieves 71.7% accuracy, outperforming the base model, the SFT baseline, and other open-source and closed-source commercial VLM candidates. Our results demonstrate that reinforcement learning offers a more robust path toward generalizable 3D assembly reasoning. We will release the dataset and code upon acceptance of this paper.

Assembly-R1: 3D Assembly Reasoning via RL-based Vision Language Models

Large Language Models (LLMs) have shown remarkable capabilities in document processing, but their inability to provide visual grounding without OCR dependencies poses significant challenges in business-critical applications. Current solutions either require model fine-tuning or rely on external OCR services, introducing additional costs, latency, and limitations in handling derived information. This paper presents ViG-LLM, a novel framework that enables closed-box LLMs to generate localization information through a multi-agent system combining U-Net-based layout deconstruction with viewport identification tasks. Evaluated on the FATURA and CORD dataset, our framework achieves perfect accuracy over spatial reasoning tuned LLM like Amazon Nova Pro, while demonstrating superior template-specific consistency. The framework maintains robust performance across LLM architectures while reducing operational costs by 60% compared to Textract-based solutions. In real-world document processing applications, the framework helps retain the high reasoning capabilities of the system in document information extraction tasks while improving explainability, reliability and human interaction for information verification. Through human-in-the-loop learning and closed-box prompt alignment techniques, ViG-LLM provides a robust, adaptable solution for visual grounding tasks in document processing workflows.


ViG-LLM: Enhancing Visual Grounding Capabilities in Closed-Box LLMs for Document Information Extraction without OCR Dependencies

Causal discovery is central to enable causal models for tasks such as effect es- timation, counterfactual reasoning, and root cause attribution. Yet existing ap- proaches face trade-offs: purely statistical methods (e.g., PC, LiNGAM) often re- turn structures that overlook domain knowledge, while expert-designed DAGs are difficult to scale and time-consuming to construct. We propose CausalFusion, a hybrid framework that combines graph falsification tests with large language mod- els (LLMs) acting as domain-specialized data scientists. LLMs incorporate do- main expertise into candidate structures, while graph falsification tests iteratively refine DAGs to balance statistical validity with expert plausibility. We evaluate CausalFusion through two experiments: (i) a synthetic e-commerce dataset with a precisely defined ground truth DAG, and (ii) real-world supply chain data from Amazon, where the ground truth was constructed with domain experts. To bench- mark performance, we compare against classical causal discovery algorithms (PC, LiNGAM) as well as LLM-only baselines that generate DAGs without iterative falsification. Structural Hamming Distance (SHD) is used as the primary evalu- ation metric to quantify similarity between generated and “true” DAGs. We also analyze different foundational models chain-of-thought traces to examine whether deeper reasoning correlates with improved structural accuracy or reproducibility. Results show that CausalFusion produces DAGs more closely aligned with ground truth than both classical algorithms and LLM-only baselines, while offering in- terpretable reasoning at each iteration, though challenges in reproducibility and generalizability remain.

CausalFusion: Integrating LLMs and Graph Falsification for Causal Discovery

As organizations scale adoption of generative AI, model cost optimization and operational efficiency have emerged as critical factors determining sustainability and accessibility. While Large Language Models (LLMs) demonstrate impressive capabilities across diverse tasks, their extensive computational requirements make them cost prohibitive for routine enterprise use. This limitation motivates the exploration of Small Language Models (SLMs), which can deliver comparable performance in targeted applications while drastically reducing infrastructure overhead (Irugalbandara et al.,2023). In this work, we investigate the feasibility of replacing LLM-driven workflows with optimized SLMs. We trained a domain-adapted SLM to execute representative tasks traditionally handled by LLMs, such as document summarization, query answering, and structured data interpretation. As part of the experiment, we investigated the fine-tuning of facebook opt-350m model (single epoch only) using the Hugging Face TRL (Transformer Reinforcement Learning), specifically the Supervised Fine Tuning (SFT) trainer. The OPT-350M model was released by Meta AI in 2022 as part of the OPT (Open Pretrained Transformer) family of models. Similar studies demonstrate that even models at the 350M parameter scale can meaningfully contribute to instruction tuning pipelines (Mekala et al., 2024). Experimental results demonstrated that our fine-tuned SLM achieves exceptional performance with a 77.55% pass rate on ToolBench evaluation, significantly outperforming all baseline models including ChatGPT-CoT (26.00%), ToolLLaMA-DFS (30.18%), and ToolLLaMA-CoT (16.27%). These benchmarks, first introduced in ToolLLM (Qin et al., 2023) and later stabilized by follow-up efforts (Zhang et al., 2024), have become the standard for evaluating tool-augmented reasoning. Recent work has also extended ToolBench traces to preference-based optimization (Zeng et al., 2024) and designed alternative multi API corpora for tool-use robustness (Liu et al., 2024). These findings emphasize that thoughtful design and targeted training of SLMs can significantly lower barriers to adoption, enabling cost-effective, large-scale integration of generative AI into production systems.

Small Language Models for Efficient Agentic Tool Calling: Outperforming Large Models with Targeted Fine-tuning

Computer-Aided Design (CAD) documentation is fundamental to ensuring engineering integrity. However, its verification currently depends on the manual inspection of specifications, drawings, and 3D models. This practice is inherently prone to inefficiency, inconsistency, and undetected errors. To address this gap, we present the CAD Inspection Assistant, a tool-augmented agentic system designed to automate CAD-related document specification verification. At its core, the assistant leverages an agentic Large Language Model (LLM) as a dynamic planner, decomposing complex inspection tasks into executable steps. It then invokes specialized Python tools to extract and analyze data from CAD artifacts. The LLM synthesizes tool outputs to evaluate compliance with project requirements, generating actionable reports that highlight discrepancies. To demonstrate the effect of our work, we collect real-world data and conduct experiments, setting a foundation for intelligent agentic systems in manufacturing workflows.

CAD Inspection Assistant: Tool-Augmented Agentic CAD Inspection Solution

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities in cross-modal understanding, yet they remain prone to hallucinations—particularly those driven by overreliance on language and knowledge priors while neglecting visual evidence. We identify and formalize a critical subclass of such hallucinations, termed EvidenCe-prior Hallucination Observation (ECHO), which arises when models generate answers consistent with prior knowledge but inconsistent with manipulated visual inputs. To address the lack of fine-grained, scalable benchmarks for this phenomenon, we introduce the first dedicated ECHO evaluation framework, featuring a triplet-structured dataset of 414 samples (1,242 QA records) across seven domains, constructed via systematic filtering, adversarial image editing, and rigorous annotation. Our benchmark enables precise diagnosis of language-prior dependency through three controlled conditions: Text-QA, Raw-VQA, and Edit-VQA. Evaluations on both titan-class (e.g., GPT-4o, Command A Vision) and workhorse-class (e.g., Qwen2.5-VL) models reveal that stronger language priors correlate with higher ECHO susceptibility. Furthermore, we propose and validate two model-agnostic mitigation strategies—attention-guided evidence region enhancement and reinforcement learning–activated test-time reasoning—which significantly reduce ECHO rates (e.g., ECHO-$\phi$ drops from 6.3\% to 4.8\% in Qwen2.5-VL-3B). Our work provides a reproducible benchmark, interpretable metrics (ECHO--$\Delta$, ECHO--$\phi$, ECHO-$F$), and practical pathways toward more faithful multimodal reasoning.

ECHO: EvidenCe-prior Hallucination Observation

Enterprise meeting environments demand AI assistants that can handle diverse operational tasks—from rapid fact-checking during live discussions to deep cross-meeting analysis for strategic planning—under strict latency, cost, and privacy constraints. Existing meeting benchmarks focus on simplified QA tasks and lack alignment with real-world enterprise workflows where questions arise organically from multi-stakeholder collaboration, span temporal contexts, and require tool-augmented reasoning. 

We address this gap through a grounded dataset construction and learned agent framework. First, we present MeetAll: a bilingual, multimodal corpus derived from 231 meetings (140 hours) with enterprise-informed question injection validated through domain expert review (kappa=0.82) and human discriminability studies (56% detection rate, near-random). Unlike purely synthetic benchmarks, our injection protocol anchors on four enterprise-critical dimensions—cognitive load, temporal context span, domain expertise, and actionable task execution—calibrated via interviews with 15 enterprise meeting stakeholders across finance, healthcare, and tech sectors. 

Second, we introduce MeetBench-XL: a multi-dimensional evaluation protocol calibrated against human judgment (Pearson r=0.78, p<0.01) that measures factual fidelity, user intent alignment, response efficiency, structural clarity, and completeness—criteria prioritized by enterprise users in our needs assessment. 

Third, we propose MeetMaster-XL: a learned dual-policy agent that jointly optimizes routing (fast Talker vs. slow Planner) and tool invocation (retrieval, cross-meeting aggregation, web search) through offline policy learning on quality–latency–cost objectives. Unlike prior rule-based fast/slow systems, our lightweight classifier (1ms overhead) achieves 81.2% routing accuracy and unlocks a superior Pareto frontier: 30% latency reduction on simple queries and 12.4% quality gain on complex tasks over single-model baselines, while remaining deployable on consumer GPUs (RTX 4090, 22GB VRAM). 

We benchmark against commercial APIs (GPT-4o, Claude 3.5 Sonnet, Gemini 1.5 Pro) and provide ablations, robustness tests (noise, overlap, multilingual splits), and a field deployment case study. Resources: https://github.com/huyuelin/MeetBench.

MeetBench-XL: Calibrated Multi-Dimensional Evaluation and Learned Dual-Policy Agents for Real-Time Meetings

Performance evaluation of Retrieval-Augmented Generation (RAG) systems within enterprise environments is governed by multi-dimensional and composite factors extending far beyond simple final accuracy checks. These factors include reasoning complexity, retrieval difficulty, the diverse structure of documents, and stringent requirements for operational explainability. Existing academic benchmarks fail to systematically diagnose these interlocking challenges, resulting in a critical gap where models achieving high performance scores fail to meet the expected reliability in practical deployment. 

To bridge this discrepancy, this research proposes a multi-dimensional diagnostic framework by defining a four-axis difficulty taxonomy and integrating it into an enterprise RAG benchmark to diagnose potential system weaknesses.

Overcoming the‘Impracticality’of RAG: Proposing a Real-World Benchmark and Multi-Dimensional Diagnostic Framework

Despite recent advances, autonomous agents often struggle to solve complex tasks in enterprise domains that require coordinating multiple tools and processing diverse data sources. This struggle is driven by two main limitations. First, single-agent architectures enforce a monolithic plan-execute loop, which directly causes trajectory instability. Second, the requirement to use local open-weight models for data privacy introduces smaller context windows leading to the rapid consumption of context from large tool outputs. To solve this problem we introduce RP-ReAct (Reasoner Planner-ReAct), a novel multi-agent approach that fundamentally decouples strategic planning from low-level execution to achieve superior reliability and efficiency. RP-ReAct consists of a Reasoner Planner Agent (RPA), responsible for planning each sub-step, continuously analysing the execution results using the strong reasoning capabilities of a Large Reasoning Model, and one or multiple Proxy-Execution Agent (PEA) that translates sub-steps into concrete tool interactions using a ReAct approach. Crucially, we incorporate a context-saving strategy within the PEA to mitigate context window overflow by managing large tool outputs via external storage and on-demand access. We evaluate RP-ReAct, on the challenging, multi-domain ToolQA benchmark using a diverse set of six open-weight reasoning models. Our empirical results show that RP-ReAct achieves superior performance and improved generalization ability over state-of-the-art baselines when addressing diverse complex tasks across the evaluated domains. Furthermore we establish the enhanced robustness and stability of our approach across different model scales, paving the way for effective and deployable agentic solutions for enterprises.

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ChatRearrange: Learning Text-guided 3D Scene Rearrangement

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