Beyond Failure Recovery: An Engagement-Aware Human-in-the-loop Framework for Robotic Systems (opens in new tab)

Conventional human-in-the-loop approaches typically involve users only when a robot encounters failure or uncertainty, treating humans primarily as tools for improving robot performance. However, in many human-centered robotics settings, interaction should support engagement by keeping users involved in decision-making rather than limiting them to failure-driven interventions. This is particularly compelling in physical caregiving, where mobilit...