{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/realm-real-time-estimates-of-assistance-for","title":"REALM: Real-Time Estimates of Assistance for Learned Models in Human-Robot Interaction","arxiv_id":"2504.09243","date":"2025-04-12","proceeding":null,"authors":["Michael Hagenow","Julie A. Shah"],"abstract":"There are a variety of mechanisms (i.e., input types) for real-time human interaction that can facilitate effective human-robot teaming. For example, previous works have shown how teleoperation, corrective, and discrete (i.e., preference over a small number of choices) input can enable robots to complete complex tasks. However, few previous works have looked at combining different methods, and in particular, opportunities for a robot to estimate and elicit the most effective form of assistance given its understanding of a task. In this paper, we propose a method for estimating the value of different human assistance mechanisms based on the action uncertainty of a robot policy. Our key idea is to construct mathematical expressions for the expected post-interaction differential entropy (i.e., uncertainty) of a stochastic robot policy to compare the expected value of different interactions. As each type of human input imposes a different requirement for human involvement, we demonstrate how differential entropy estimates can be combined with a likelihood penalization approach to effectively balance feedback informational needs with the level of required input. We demonstrate evidence of how our approach interfaces with emergent learning models (e.g., a diffusion model) to produce accurate assistance value estimates through both simulation and a robot user study. Our user study results indicate that the proposed approach can enable task completion with minimal human feedback for uncertain robot behaviors.","url_abs":"https://arxiv.org/abs/2504.09243v1","url_pdf":"https://arxiv.org/pdf/2504.09243v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"realm-real-time-estimates-of-assistance-for","repo_url":"https://github.com/mhagenow01/REALM_algorithm","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2504.09243","atlas_url":"https://app.syntology.ai/?focus=2504.09243","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}