Dialog
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SpeakerMem-R1: Speaker-Centered Dual-Track Memory for Multi-Party Dialogue
2026-09-22 17:56:12Haobo Zheng, Tan Tang, Yan Chen, Weijie Wang, Yingcai WuAbstract
Long-term conversational memory in multi-party settings requires more than retrieving relevant content from long-term conversations: it must distinguish who said what, whom each statement concerns, how individuals perceive one another, what information is shared by the group, and how states change over time. Recent studies on multi-party dialogue benchmarks show that existing general-purpose LLM memory systems tend to lose person and group relations or struggle to integrate clues distributed across members, groups, and time. Together, these issues reveal two core bottlenecks: message attribution and relational understanding in multi-party dialogue, and state reconstruction from interleaved histories. To address both, we propose $\textbf{SpeakerMem-R1}$: its dual-track memory stores speaker-labeled verbatim messages and derived states organized into person-level and group-level views, then combines evidence from both tracks by entity, event, and time at query time. To reduce attribution and update errors during structured memory construction while enabling local deployment, we train Writer-R1 with SpeakerLevenshtein and speaker-conditioned GRPO. On GroupMemBench, SocialMemBench, and EverMemBench, SpeakerMem-R1 achieves binary accuracies of 47.9%, 69.2%, and 61.9%, respectively. On the publicly reported EverMemBench leaderboard from EverMind-AI, we achieves 62.33%, the best reported result among the latest state-of-the-art frameworks. It also achieves 70.85% on all 1,986 LoCoMo questions, which we use as a two-person long-term conversation boundary test. In a controlled evaluation of 305 questions, RL raises the SFT Writer's mean accuracy from 57.38% to 68.20%. We report both binary accuracy and token-F1, and ablations show that the verbatim and structured tracks, as well as person-level and group-level views, are complementary under the standardized evaluation interface.
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URL
https://arxiv.org/abs/2609.26780
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Interactive TTS: Dynamic Speaking Style Adaptation for Expressive Speech Synthesis
2026-09-22 05:25:02Wenjie Tian, Kangxiang Xia, Jingbin Hu, Xinfa Zhu, HangRui Hu, Ziyue Jiang, Kexin Huang, Ting He, Lei Xie, Jin XuAbstract
Dynamic speaking style adaptation in multi-turn multimodal interaction remains a major challenge for text-to-speech (TTS) systems. Existing context-aware TTS (CTTS) methods typically map dialogue context to speech in an end-to-end manner. Such implicit modeling makes contextual style decisions difficult to supervise, while the entanglement of style, timbre, and content often leads to weak instruction-following and severe timbre drift across turns. To overcome these limitations, we propose Interactive TTS, a dynamic, style-adaptive framework for contextually appropriate and speaker-consistent speech generation. Interactive TTS decouples the process by explicitly modeling contextual style decisions as executable instructions. To bridge the gap between style decisions and speech generation, we introduce Iterative Rejection Sampling Fine-Tuning (Iterative RSFT) and Context-Aware Direct Preference Optimization (CADPO), which significantly enhance instruction-following and align the generated speech with conversational contexts. Extensive experiments demonstrate that Interactive TTS outperforms state-of-the-art models on VStyle and SpeechParaling-Bench. Demo is available at this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.25707
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Learning to Plan in Human-Robot Collaboration: Multimodal Reinforcement Learning for Adaptive Interaction
2026-09-21 18:18:40Afagh Mehri Shervedani, Siyu Li, Natawut Monaikul, Bahareh Abbasi, Barbara Di Eugenio, Milo\v{s} \v{Z}efranAbstract
Robot assistants for older adults and people with disabilities need to perform collaborative tasks with users effectively. The core component of these systems is an interaction manager whose job is to observe and assess the task and infer the state of the human and their intent for the robot to choose the best course of action. Due to the sparseness of the data in this domain, the policy for such multimodal systems is often crafted by hand; as the complexity of interactions grows, this process is not scalable. This paper proposes a reinforcement learning (RL) approach to automatically generate the multimodal policy of the robot. Our system focuses on a realistic scenario where a robot assists a user in locating objects within a home environment, managing multimodal signals, including language and physical actions, to select the best action. In contrast to traditional dialog systems, our agent is trained with a simulator that uses human data and can deal with multiple modalities. We use a simple high-level reward function that needs no fine-tuning and enforce some preconditions to speed up the training process. A human study evaluating the system in a real-world setting demonstrates promising results, indicating high usability and effective task completion. This RL-based approach offers a scalable and interpretable alternative for designing interaction managers in multimodal human-robot collaborations.
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URL
https://arxiv.org/abs/2609.25274
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Linguistic Features for Interpretable Textual Entailment
2026-09-21 17:26:30David Torres-Moreno, Jorge Hermosillo-Valadez, Asela Reig-AlamilloAbstract
Despite the success of neural models in natural language processing, their black-box nature limits interpretability and conceals the linguistic phenomena underlying their predictions. We present SLITE, an explainable hybrid model for Recognizing Textual Entailment that integrates two complementary layers of semantic analysis: a structural-relational layer, based on semantic compatibility and incompatibility between compositional entities, and a distributional-informational layer, based on structured patterns of information change between embedding-based representations of the premise and the hypothesis. We propose 17 features that combine entity-level semantic relations, polarity-sensitive lexical matching, and alignment measures over semantic sub-representations of the similarity matrix, including measures based on entropy and transfer entropy. A logistic regression trained on these features achieves an accuracy of 83% on three-class SICK and 96% on SICK-CE, outperforming IsoLex by 4 percentage points and falling within 2 percentage points of RoBERTa with a fraction of its computational complexity. Ablation studies and SHAP analysis confirm that structural-relational features are the primary drivers of classification, while distributional-informational features provide essential complementary contributions, particularly for detecting neutrality and contradiction. Our results demonstrate that further exploration of hybrid approaches is a viable and scientifically productive alternative to massive neural architectures, and we hope they will strengthen the dialogue between linguistic theory and computational modeling of inference
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URL
https://arxiv.org/abs/2609.24932
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LLM-based Conversational AI Knowledge Assistant for MyBuddy Humanoid Robot
2026-09-21 15:11:06Hanxiao ChenAbstract
Humanoid robots are increasingly being popular and developed for human-centered applications, yet their ability to provide intelligent conversations and natural interactive knowledge assistance remains constrained by traditional rule-based dialogue systems, pre-defined responses and limited knowledge repositories. Large language models (LLMs) have emerged as a powerful foundation for enabling natural, adaptive, and context-aware Human-Robot Interaction (HRI), which provides a significant opportunity to address such limitations by enabling robots to understand natural speech language, reason over complicated queries, maintain high-quality conversational context, and generate knowledge-rich responses. In this work, we originally present and implement an LLM-based versatile Conversational AI Knowledge Assistant for the Raspberry-Pi-powered 13-Axis MyBuddy humanoid robot, which integrates LLM-driven language understanding and AI reasoning with real-time speech recognition, knowledge retrieval via extensible access of internet engines (e.g., Wikipedia, arXiv), flexible dialogue management, and natural speech synthesis to enable much more intelligent multi-turn continuous conversations and advanced emotional-support Human-Robot Interaction.
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URL
https://arxiv.org/abs/2609.24742
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Evaluating Decision Models for Text Annotation in Computational Social Science
2026-09-21 13:41:54Hazem Ibrahim, Yasir ZakiAbstract
Computational social science increasingly relies on large language models for text annotation, and the validity of published findings now rests on the labels generated by such models. Decision models, a new model class built for categorical question answering, answer typed questions with a choice, a probability distribution over the label set, and a confidence score rather than free text, at a small fraction of frontier inference prices. Whether their answers are accurate, and whether that stated confidence can be trusted on social science constructs, are unknown. Here, we mirror the evaluation of Ziems et al. (2024) on 18 computational social science classification tasks (7,977 items), comparing the first commercial decision model and two open-weight counterparts against 19 frontier and open-weight language models under the same zero-shot protocol. The decision model trails the per-task best LLM on 14 of 15 evaluation tasks, with a median deficit of 11.6 macro-F1 points, at a median 44 times lower measured cost. Its confidence is better calibrated than the verbalized confidence of 16 of the 19 LLMs, yet three frontier models show lower median calibration error (0.157 against 0.066). While items above 0.9 confidence are typically labeled accurately (median accuracy 0.815), on one task, empathy in peer-support dialogues, the model reports high confidence while performing near chance. Nonetheless, our results suggest that decision models are useful as a first step in the annotation pipeline: routing low-confidence items to an LLM matches or exceeds the LLM alone at a quarter to half of its cost.
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URL
https://arxiv.org/abs/2609.24574
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MIRA: Real-Time Full-Duplex Human-Robot Interaction for Embodied Companions
2026-09-21 13:14:53Lijian Lin, Ye Zhu, Fan Zhang, Yunfei Liu, Baofeng Li, Xianwen Zeng, Jianan Wang, Yu LiAbstract
Real-time embodied companion interaction requires a robot to infer user intent from streaming speech, generate timely responses, and execute expressive, interruptible motions. Existing systems typically decouple dialogue orchestration from gesture synthesis, relying on offline motion generation from complete audio. This separation leaves open how a deployed robot can dynamically synchronize response content, prosodic timing, and physical safety under incremental inputs and uncertain turn boundaries. We present MIRA, a unified framework for full-duplex embodied companion interaction. Given streaming user speech, dialogue history, and vocal affect, MIRA predicts both the response text and an explicit embodiment cue. Discrete social behaviors (\eg listening, greeting) are mapped to validated robot trajectories, while open-ended speaking is paired with streaming, co-speech motion. This generative motion is governed by a predict-more-than-commit sliding window that provides temporal look-ahead for motion continuity while limiting physical commitment to a short, cancellable prefix. Crucially, we design CORTEX, a dual-timescale interaction policy that manages low-latency streaming and deliberative turn decisions, backed by a robot-side execution layer that enforces physical safety constraints at the control rate. We deploy MIRA on an Astribot S1 humanoid robot. Quantitative evaluations demonstrate competitive audio-motion alignment relative to state-of-the-art motion-generation baselines, while real-robot deployment measurements characterize streaming responsiveness and interruption handling.
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URL
https://arxiv.org/abs/2609.24547
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Fathom-Vaidya: Advancing Medical Reasoning with Rubric-Based Rewards
2026-09-21 12:19:50Kalash Shah, Kunal Singh, Snehan J, Shreyas SinghAbstract
Deploying Large Language Models (LLMs) in healthcare requires robust performance across two complementary dimensions - diagnostic reasoning: the convergent, evidence-driven task of inferring a patient's condition from clinical data to produce a diagnosis, and clinical healthcare reasoning: the broader, navigational judgment required to communicate, plan, and adapt across multi-turn clinical interactions where a single correct answer may not exist. Recent benchmarks such as HealthBench and MedXpertQA reveal persistent weaknesses in both areas, exposing failures in complex diagnostic scenarios and limitations in contextual, patient-centered dialogue. We introduce a sequential training framework that targets these facets using synthetic data and rubric-based reinforcement learning. First, we improve diagnostic reasoning using MedBullets-derived questions with rule- and rubric-guided Reinforcement Learning (RL). We then shift to clinical reasoning by generating 5.3k synthetic multi-turn scenarios, each paired with multi-dimensional rubrics to comprehensively assess the response. This approach yields over 10% improvement on MedXpertQA, and our 30B model achieves 50.1% accuracy on HealthBench-Hard, surpassing proprietary baselines including GPT-5 (thinking). Our results show that targeted synthetic datasets and rubric-based training can systematically improve both diagnostic and interactive clinical reasoning in medical LLMs.
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URL
https://arxiv.org/abs/2609.24480
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Speech-to-SOAP: End-to-End Summarization of Medical Dialogues: KIT@BeTraC 2026
2026-09-21 10:04:09Enes Yavuz Ugan, Fabian Retkowski, Yuka Ko, Thai-Binh Nguyen, Maike Z\"ufle, Jan Niehues, Alexander WaibelAbstract
With the advent of Large Language Models and its instruction following capabilities a promising application is the task of summarization. Within this domain of task the extractive sub-task of clinical protocolling has emerged as a topic of particular interest as it can significantly reduce the downtime and protocolling burden of health-care workers thus enabling them to focus on their core work helping humans. A further step towards automation is the direct generation of clinical notes from speech without intermediate transcripts, reducing processing time while preserving information such as coughing or other paralinguistic cues that may be lost in transcript-based systems. To this end, we present KIT's submission to this years BeTraC challenge in the lightweight track. Our main contribution is a scalable data augmentation pipeline that unifies heterogeneous medical dialogue datasets through synthetic speech generation and automatically generated SOAP supervision, enabling robust adaptation of a speech foundation model for end-to-end speech-to-SOAP generation.
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URL
https://arxiv.org/abs/2608.24327
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LiteCASS: A Lightweight End-to-End Network for Real-Time Stereo Cinematic Audio Source Separation
2026-09-20 08:31:26Yuanxin Guo, Qiang Ji, Mengmei Liu, Yuhan Lv, Ningning Pan, Gongping HuangAbstract
Cinematic audio source separation (CASS) decomposes a soundtrack into dialogue, music, and sound-effects (SFX) stems. Existing CASS methods, however, suffer from two critical limitations: they rely on heavily parameterized network architectures and GPU-class hardware, limiting their use in real-time and resource-constrained scenarios, and they are overwhelmingly designed for monaural signals, leaving the stereo scenario largely unexplored. We present LiteCASS, to our knowledge the first lightweight end-to-end network for real-time stereo CASS. LiteCASS combines deterministic STFT subband rearrangement with two jointly trained compact U-Nets: the first extracts dialogue, and the second separates music and SFX from the predicted non-speech component. A multi-task waveform-domain L1 loss supervises all stems. On a spatialized stereo extension of DnR v3, LiteCASS-K8 uses only 1.06M parameters and 0.72G MACs per second, while achieving the highest averaged SI-SDR among the compared CASS baselines.
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URL
https://arxiv.org/abs/2609.23453
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Automated Evaluation of Multi-Turn Dialogues in In-Car Conversational Assistants
2026-09-20 08:13:36Vaishnav Negi, Lev Sorokin, Soroosh Tayebi Arasteh, Andrea StoccoAbstract
In-car conversational assistants (ICAs) are increasingly integrated into vehicles to support route planning, vehicle control, and information access. Ensuring their reliability is challenging due to multi-turn interactions, the absence of explicit ground truth, and strict safety constraints. Existing evaluation techniques fall short, as they target single-turn settings and fail to capture constraint handling, context retention, and safety-critical behavior across turns. We propose an automated framework for testing the multi-turn conversational capabilities of ICAs. The system is treated as a black box and evaluated via closed-loop simulation with a strategy-guided user simulator, an adversarial strategy manager, and a two-tier LLM judge assessing turn-level failures and conversation-level quality. We evaluate the approach on an industrial ICA with six LLM backends and twelve human annotators. The automated judge shows substantial agreement with humans, and strategy guidance uncovers 2.96 times more unique failure types per conversation and more than doubles the number of unique failing conversations compared to unguided simulation.
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URL
https://arxiv.org/abs/2609.35812
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EmoPose: Vision-Language Model Guided Emotion-Aware Gesture Generation for Humanoid Robots
2026-09-20 06:58:49Daojie Peng, Bingtao Wang, Fulong Ma, Wenjun Yue, Liang Zhang, Jun MaAbstract
Socially competent humanoid robots must communicate affect and intent through gesture as well as speech, yet open-ended interaction must become motion that is both expressive and executable on a specific body. This demands semantic flexibility for contextual social intent while preserving deterministic, embodiment-aware robot control. We present EmoPose, a vision-language model (VLM)-guided framework that bridges this gap through an executable semantic interface. Given language, dialogue history, and optional visual context, the VLM selects an ordered gesture plan containing a communicative class, library variant, intensity, and speech anchor. A scalable robot-owned motion library defines the available expressive vocabulary and the source of 14-DoF joint targets. Pose Studio supports automatic trajectory generation, MuJoCo preview, and automatic synchronization of new library entries with the VLM guide; deterministic robot-side modules validate plans, construct trajectories, schedule gestures, and manage queueing and interruption. This division lets the interaction repertoire grow for new social contexts without changing the control interface or delegating raw joint commands to the foundation model. On the EmoPose-Bench, structured GPT-5.5 planning reaches $98.25\pm0.52\%$ on the Easy tier and $76.50\pm0.54\%$ overall, exceeding same-model direct-label prompting. Further tests validate dialogue-context use and ordered multi-action composition. The system completes the nominal MuJoCo suite and realizes all 29 authored variants on the physical Unitree G1. A four-stop laboratory tour demonstrates expressive narration with interruption, camera-grounded dialogue, and navigation.
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URL
https://arxiv.org/abs/2609.23414
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Enforcing Narrative Reliability and Epistemic Pacing in LLM-Driven Detective Games via Structured Knowledge Trees
2026-09-19 14:18:47Parsa Rahmati, Richard ZhaoAbstract
Large Language Models (LLMs) enable open-ended dialogue in interactive games, but their non-deterministic outputs make it difficult to preserve authorial control, factual consistency, and the intended sequence of information disclosure. These challenges are particularly significant in detective games, where premature revelation or fabricated details can undermine the logic of player progression. We present a Structured Knowledge Tree architecture coupled with a tri-agent LLM pipeline for controlling dialogue in an open-ended interrogation game. The system separates knowledge retrieval, dialogue generation, and response verification to ensure that the virtual suspect reveals only information permitted by the current narrative state. We evaluate the approach through The Interrogation of Adrian Gale, a playable detective-game testbed, and a formal user study examining hallucination reduction, adherence to authored disclosure sequences, and perceived logical progression. Our results demonstrate that the structured architecture reduces critical hallucinations by 64.78% and entirely prevents premature narrative disclosure. While the strict mechanical constraints introduced usability trade-offs regarding forced conversational reveals, the system successfully enforces rigorous epistemic pacing and provides players with a clear, subjective sense of progression toward solving the case.
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URL
https://arxiv.org/abs/2609.23043
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To Consolidate or not to Consolidate? Evaluating the Impact of Consolidation in Multi-Reference Training using Peer Reviews
2026-09-19 06:13:28Maitreya Prafulla Chitale, Ketaki Mangesh Shetye, Yash More, Harshit Gupta, Manav Chaudhary, Manish Shrivastava, Vasudeva VarmaAbstract
Natural language generation (NLG) tasks span the spectrum of conditional entropy, ranging from highly constrained machine translation to open-ended dialogue generation. Structured tasks like automated peer-review generation occupy the intermediate region, where a single input admits multiple valid, overlapping outputs. In this work, we demonstrate that traditional single- and multi-reference training paradigms are suboptimal for these intermediary tasks. We provide empirical evidence that consolidating diverse references into a unified training signal is crucial for developing effective systems. To facilitate this, we introduce MERC-36K, a large-scale corpus of over 36,000 papers paired with original and consolidated peer reviews. Using this dataset, we train specific architectures to isolate the impact of different reference paradigms and benchmark against existing state-of-the-art systems. Through extensive automatic and human evaluation, we demonstrate that models trained on consolidated references significantly outperform those trained on unconsolidated references. Dataset and code will be released upon acceptance.
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URL
https://arxiv.org/abs/2609.22805
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AlexandriaX 2026: The First Shared Task on Dialectal Arabic Machine Translation
2026-09-19 05:59:30Abdellah El Mekki, AbdelRahim A. Elmadany, Samar M. Magdy, Saad Ezzini, Mo El-Haj, Mustafa Jarrar, Zaid Alyafeai, Bernard Ghanem, Muhammad Abdul-MageedAbstract
Dialectal Arabic machine translation (MT) remains challenging despite recent progress in Arabic language technologies, particularly because effective translation requires modeling not only semantic content but also dialectal variation, conversational context, speaker and addressee characteristics, and sociolinguistic appropriateness. Moreover, conventional MT metrics provide limited insight into the linguistic errors produced by dialectal systems. We present the AlexandriaX 2026 Shared Task on Dialectal Arabic MT, which addresses these challenges through three complementary subtasks: (1) context-aware English-to-Dialectal Arabic dialogue translation across 13 Arabic varieties, (2) cross-dialect Arabic translation in the financial domain covering six Arabic dialects, and (3) span-level MT error detection and classification using linguistically motivated error categories across five Arabic varieties. The shared task attracted 38 registrations for Subtask 1, 33 for Subtask 2, and 35 for Subtask 3. Twelve unique teams submitted their system description papers, all of which we accepted for publication. The best system on Subtask 1 achieved 30.42 spBLEU in the constrained track and 33.49 spBLEU in the unconstrained track. On Subtask 2, the top system obtained 28.40 spBLEU. On Subtask 3, the best system achieved an overall score of 49.82, outperforming the 24.29 baseline. Taken together, the results of the leading systems across the three subtasks highlight the benefits of explicit dialect modeling, context-aware generation, retrieval and reranking, and specialized approaches to interpretable MT error analysis. All the resources of AlexandriaX 2026 shared task are publicly available, including data, baselines, and evaluation code on our project page: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22796
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Pretrained Persona Mixture Models and Tandem Models for Human Simulation
2026-09-18 21:50:35Minwoo Kang, T\'ea Wright, Seun Eisape, Ayush Raj, Suhong Moon, Joseph Suh, Alane Suhr, David M. Chan, John CannyAbstract
We argue here that the current dominant practice in LLM human simulation: prompting instruction-tuned assistant language models to role-play personas, is inaccurate and produces stereotyped predictions (lacking natural diversity). It has previously been shown that LLMs can be bound to personas using naturalistic, freetext dialog avoiding stereotyping. Here we show that binding can also be achieved using short, individual samples of dialog from specific people. Demographics can be added later without negative effects by simply querying the model. We use the term Persona Mixture Models (PMMs) for well-calibrated human models, currently realized as pretrained base models. We show that PMMs produce more accurate predictions than instruction-tuned models and retain more of the lexical, semantic, and pragmatic diversity found in human dialog. We measure realism and diversity of LLMs simulating human interlocutors across a diverse set of corpora spanning open-domain text, human-AI chat, and task-oriented dialogue between human speakers. However, base pretrained models can produce out-of-domain dialog and may lose some of the human's internal state over long contexts. We propose and explore tandem models which combine a pre-trained model with an instruction-tuned supervisor. Tandem models achieve the best overall accuracy and diversity in our experiments.
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URL
https://arxiv.org/abs/2609.22607
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When Cosine Similarity Fails to Reflect Linearly Accessible Structure in Dialogue Models
2026-09-18 19:29:47Yu Sun, Mengyin Lu, Cong Feng, Guangming Lu, Huimin HanAbstract
Cosine similarity is widely used to analyze transformer representations, implicitly assuming that similarity reflects task-relevant structure. We study when this assumption fails in dialogue-conditioned large language models. Across three 7-8B chat-tuned models, ambient cosine similarity substantially underestimates linearly decodable persona structure on the same hidden states; numerically, linear probe AUC is in the 0.73-0.97 range while cosine kNN is in the 0.56-0.77 range on a 30-class task. A low-dimensional supervised subspace recovers much of this gap, whereas a matched-rank PCA subspace does not and in some cases degrades performance. This mismatch is regime-dependent: it is absent in single-sentence sentiment classification (SST-5), and a matched-cardinality control rules out attribute cardinality as a confound. The gap does not systematically increase across dialogue turns, and the task-aligned subspace remains stable over time. However, two of three models violate a pre-registered within-subspace separability invariance criterion (|Delta AUC| <= 0.03), and one model violates a pre-registered turn-invariance criterion (|Delta L| <= 0.05). These results show that cosine similarity can fail to reflect task-aligned structure in dialogue representations even when that structure is linearly accessible.
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URL
https://arxiv.org/abs/2609.22522
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Vox-Infinity: Benchmarking the Limits of Long-Context Spoken Language Models
2026-09-18 18:07:47Xize Cheng, Wenxu Jia, Chenyuhao Wen, Dongjie Fu, Zehan Wang, Xinyu Zhang, Tao JinAbstract
Long-context understanding remains a fundamental challenge for large language models, as excessively long inputs often lead models to forget salient information. This issue is even more pronounced in the speech domain, where audio, as a low-compression modality, requires substantially more embeddings than text to preserve both semantic content and acoustic cues. To address this challenge, we introduce \textbf{Vox-Infinity}, the first benchmark specifically designed to evaluate long-context understanding in spoken language models. Vox-Infinity systematically extends audio history along two dimensions: turn count and turn duration. It covers a diverse range of representative scenarios with varying interaction structures and semantic complexity. Crucially, Vox-Infinity provides explicit answer-provenance annotations and organizes samples according to the amount of historical context required to resolve each query, enabling precise and length-aware evaluation. Extensive evaluations of seven representative spoken language models reveal a clear overall recency effect: models generally achieve higher accuracy when answer-supporting evidence is closer to the query, but struggle to retrieve and use evidence located farther back in the dialogue history. Cases and datasets are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22452
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When Should a Failing Robot Ask? Initiating Corrective Human-Robot Dialogue from Audited Sensor Evidence
2026-09-18 15:56:52Eshika Pathak, Leela KrishnaAbstract
A robot that fails at a task faces the first decision in corrective dialogue: act on its own diagnosis, consult another onboard sensor, or interrupt a person. Choosing well requires knowing how much the robot's sensors reveal about the cause and how reliable the robot's own diagnosis is. We build a simulated benchmark in which every failure's true cause is known, because we injected it, and measure what each sensor reveals, with explicit checks against data leakage. Some failures are diagnosable from camera images; others only from the robot's force data (0.99 from force data, no image method above 0.55). We then test six open vision-language models. Their behavior tracks the surface of the prompt, not the evidence: moving the refusal option from last to first in the answer list collapses refusal rates from 78-100% to 0-6% in three of the six swept model-and-family pairs. Accuracy from frames stays at or below a majority-class baseline under every prompt variant, with or without worked examples, and stated confidence carries no information about correctness. Handing the same models the force data as ten lines of text produces the first above-baseline diagnoses, in four of the six models: much of the failure reflects missing sensor data, not missing ability. We pose the choice as a three-action decision problem, act, consult your own sensors, or ask a human, whose optimal policy follows from measured accuracy. The models do not follow it, and their ask rates ignore a fourfold change in question cost. One question to a human still lifts them from that baseline to roughly the answerer's own reliability (0.70-0.81 when they ask). The decision to ask should be tied to measured accuracy and stated costs, not to the model's confidence.
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URL
https://arxiv.org/abs/2609.21942
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Do Personality-Tuned LLMs Make Better Social Agents?
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LLMs are increasingly used in social simulations for socially interactive agents and robots, offering more flexibility than rule-based systems. However, even though they mimic human behaviour very well, there is a persistent alienness to them. This work investigates whether personality-aware fine-tuning can reduce this gap by improving the consistency and controllability of personality-conditioned dialogue generation compared with instruction prompting alone. We fine-tune two small open-weight LLMs, Qwen2.5-7B-Instruct and Ministral-8B-Instruct, using a corpus that combines personality-labelled social media posts and dialogues to create a personality-based dialogue engine for social simulation. The resulting models are evaluated across multiple social interaction scenarios using three independent LLM judges, which assess personality fidelity and provide evidence-based behavioral interpretations. We additionally quantify inter-rater agreement and lexical characteristics of the generated dialogue. Results indicate that fine-tuned models are not better at role-playing different personalities than their respective baseline models. However, low inter-rater agreement limits the confidence with which these results can be interpreted. Concerning the quality of generated texts, fine-tuned models are mostly comparable to the baselines, with fine-tuning improving the linguistic diversity of the Qwen models. While the results appear generally usable and the baseline models offer the best overall performance, future studies should place greater emphasis on the quality and domain alignment of training data for accurate personality role-playing.
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https://arxiv.org/abs/2609.21857
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