arXiv subjects

Katie Winkle

Publications and source records attributed to Katie Winkle.

14 recordsLinked to original sources

arXiv2026

Operationalizing Perceptions of Agent Gender: Foundations and Guidelines

The "gender" of intelligent agents, virtual characters, social robots, and other agentic machines has emerged as a fundamental topic in studies of people's interactions with computers. Perceptions of agent gender can help explain user attitudes and behaviours -- from preferences to toxicity to stereotyping -- across a variety of systems and contexts of use. Yet, standards in capturing perceptions of agent gender do not exist. A scoping review was conducted to clarify how agent gender has been operationalized -- labelled, defined, and measured -- as a perceptual variable. One-third of studies manipulated but did not measure agent gender. Norms in operationalizations remain obscure, limiting comprehension of results, congruity in measurement, and comparability for meta-analyses. The dominance of the gender binary model and latent anthropocentrism have placed arbitrary limits on knowledge generation and reified the status quo. We contribute a systematically-developed and theory-driven meta-level framework that offers operational clarity and practical guidance for greater rigour and inclusivity.

cs.HC↗

arXiv2026

Lightweight Visual Reasoning for Socially-Aware Robots

Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown promise in enhancing robotic perception and instruction-following using Vision-Language Models (VLMs), they remain limited in addressing the complexities of multimodal human-robot interactions (HRI). Motivated by this challenge, we introduce a lightweight language-to-vision feedback module that closes the loop between an LLM and the vision encoder in VLMs. The module projects image-token hidden states through a gated Multi-Layer Perceptron (MLP) back into the encoder input, prompting a second pass that reinterprets the scene under text context. We evaluate this approach on three robotics-centred tasks: navigation in a simulated environment (Habitat), sequential scene description (Mementos-Robotics), and human-intention recognition (our HRI dataset). Results show that our method improves Qwen 2.5 (7B) by $3.3\%$ (less distance), $+0.057$ description score, and $+2.93\%$ accuracy, with less than $3\%$ extra parameters; Gemma 3 (4B) and LLaVA OV 1.5 (4B) show mixed navigation results but gains $+0.111,+0.055$ and $+10.81\%,+4.79\%$ on the latter two tasks. Code is available at https://github.com/alessioGalatolo/VLM-Reasoning-for-Robotics

cs.RO↗

arXiv2025

Beyond Ethical Alignment: Evaluating LLMs as Artificial Moral Assistants

The recent rise in popularity of large language models (LLMs) has prompted considerable concerns about their moral capabilities. Although considerable effort has been dedicated to aligning LLMs with human moral values, existing benchmarks and evaluations remain largely superficial, typically measuring alignment based on final ethical verdicts rather than explicit moral reasoning. In response, this paper aims to advance the investigation of LLMs' moral capabilities by examining their capacity to function as Artificial Moral Assistants (AMAs), systems envisioned in the philosophical literature to support human moral deliberation. We assert that qualifying as an AMA requires more than what state-of-the-art alignment techniques aim to achieve: not only must AMAs be able to discern ethically problematic situations, they should also be able to actively reason about them, navigating between conflicting values outside of those embedded in the alignment phase. Building on existing philosophical literature, we begin by designing a new formal framework of the specific kind of behaviour an AMA should exhibit, individuating key qualities such as deductive and abductive moral reasoning. Drawing on this theoretical framework, we develop a benchmark to test these qualities and evaluate popular open LLMs against it. Our results reveal considerable variability across models and highlight persistent shortcomings, particularly regarding abductive moral reasoning. Our work connects theoretical philosophy with practical AI evaluation while also emphasising the need for dedicated strategies to explicitly enhance moral reasoning capabilities in LLMs. Code available at https://github.com/alessioGalatolo/AMAeval

cs.AI↗

arXiv2025

"Who Should I Believe?": User Interpretation and Decision-Making When a Family Healthcare Robot Contradicts Human Memory

Advancements in robotic capabilities for providing physical assistance, psychological support, and daily health management are making the deployment of intelligent healthcare robots in home environments increasingly feasible in the near future. However, challenges arise when the information provided by these robots contradicts users' memory, raising concerns about user trust and decision-making. This paper presents a study that examines how varying a robot's level of transparency and sociability influences user interpretation, decision-making and perceived trust when faced with conflicting information from a robot. In a 2 x 2 between-subjects online study, 176 participants watched videos of a Furhat robot acting as a family healthcare assistant and suggesting a fictional user to take medication at a different time from that remembered by the user. Results indicate that robot transparency influenced users' interpretation of information discrepancies: with a low transparency robot, the most frequent assumption was that the user had not correctly remembered the time, while with the high transparency robot, participants were more likely to attribute the discrepancy to external factors, such as a partner or another household member modifying the robot's information. Additionally, participants exhibited a tendency toward overtrust, often prioritizing the robot's recommendations over the user's memory, even when suspecting system malfunctions or third-party interference. These findings highlight the impact of transparency mechanisms in robotic systems, the complexity and importance associated with system access control for multi-user robots deployed in home environments, and the potential risks of users' over reliance on robots in sensitive domains such as healthcare.

cs.HC↗

arXiv2025

Ice-Breakers, Turn-Takers and Fun-Makers: Exploring Robots for Groups with Teenagers

Successful, enjoyable group interactions are important in public and personal contexts, especially for teenagers whose peer groups are important for self-identity and self-esteem. Social robots seemingly have the potential to positively shape group interactions, but it seems difficult to effect such impact by designing robot behaviors solely based on related (human interaction) literature. In this article, we take a user-centered approach to explore how teenagers envisage a social robot "group assistant". We engaged 16 teenagers in focus groups, interviews, and robot testing to capture their views and reflections about robots for groups. Over the course of a two-week summer school, participants co-designed the action space for such a robot and experienced working with/wizarding it for 10+ hours. This experience further altered and deepened their insights into using robots as group assistants. We report results regarding teenagers' views on the applicability and use of a robot group assistant, how these expectations evolved throughout the study, and their repeat interactions with the robot. Our results indicate that each group moves on a spectrum of need for the robot, reflected in use of the robot more (or less) for ice-breaking, turn-taking, and fun-making as the situation demanded.

cs.RO↗

arXiv2025

Visualising Policy-Reward Interplay to Inform Zeroth-Order Preference Optimisation of Large Language Models

Fine-tuning Large Language Models (LLMs) with first-order methods like back-propagation is computationally intensive. Zeroth-Order (ZO) optimisation uses function evaluations instead of gradients, reducing memory usage, but suffers from slow convergence in high-dimensional models. As a result, ZO research in LLMs has mostly focused on classification, overlooking more complex generative tasks. In this paper, we introduce ZOPrO, a novel ZO algorithm designed for Preference Optimisation in LLMs. We begin by analysing the interplay between policy and reward models during traditional (first-order) Preference Optimisation, uncovering patterns in their relative updates. Guided by these insights, we adapt Simultaneous Perturbation Stochastic Approximation (SPSA) with a targeted sampling strategy to accelerate convergence. Through experiments on summarisation, machine translation, and conversational assistants, we demonstrate that our method consistently enhances reward signals while achieving convergence times comparable to first-order methods. While it falls short of some state-of-the-art methods, our work is the first to apply Zeroth-Order methods to Preference Optimisation in LLMs, going beyond classification tasks and paving the way for a largely unexplored research direction. Code and visualisations are available at https://github.com/alessioGalatolo/VisZOPrO

cs.CL↗

arXiv2025

"I don't like things where I do not have control": Participants' Experience of Trustworthy Interaction with Autonomous Vehicles

With the rapid advancement of autonomous vehicle (AV) technology, AVs are progressively seen as interactive agents with some level of autonomy, as well as some context-dependent social features. This introduces new challenges and questions, already relevant in other areas of human-robot interaction (HRI) - namely, if an AV is perceived as a social agent by the human with whom it is interacting, how are the various facets of its design and behaviour impacting its human partner? And how can we foster a successful human-agent interaction (HAI) between the AV and the human, maximizing the human's comfort, acceptance, and trust in the AV? In this work, we attempt to understand the various factors that could influence na\"ive participants' acceptance and trust when interacting with an AV in the role of a driver. Through a large-scale online study, we investigate the effect of the AV's autonomy on the human driver, as well as explore which parameters of the interaction have the highest impact on the user's sense of trust in the AV. Finally, we analyze our preliminary findings from the user study within existing guidelines on Trustworthy HAI/HRI.

cs.HC↗

arXiv2024

DIEKAE: Difference Injection for Efficient Knowledge Augmentation and Editing of Large Language Models

Pretrained Language Models (PLMs) store extensive knowledge within their weights, enabling them to recall vast amount of information. However, relying on this parametric knowledge brings some limitations such as outdated information or gaps in the training data. This work addresses these problems by distinguish between two separate solutions: knowledge editing and knowledge augmentation. We introduce Difference Injection for Efficient Knowledge Augmentation and Editing (DIEKÆ), a new method that decouples knowledge processing from the PLM (LLaMA2-7B, in particular) by adopting a series of encoders. These encoders handle external knowledge and inject it into the PLM layers, significantly reducing computational costs and improving performance of the PLM. We propose a novel training technique for these encoders that does not require back-propagation through the PLM, thus greatly reducing the memory and time required to train them. Our findings demonstrate how our method is faster and more efficient compared to multiple baselines in knowledge augmentation and editing during both training and inference. We have released our code and data at https://github.com/alessioGalatolo/DIEKAE.

cs.CL↗

arXiv2024

Love, Joy, and Autism Robots: A Metareview and Provocatype

Previous work has observed how Neurodivergence is often harmfully pathologized in Human-Computer Interaction (HCI) and Human-Robot interaction (HRI) research. We conduct a review of autism robot reviews and find the dominant research direction is Autistic people's second to lowest (24 of 25) research priority: interventions and treatments purporting to 'help' neurodivergent individuals to conform to neurotypical social norms, become better behaved, improve social and emotional skills, and otherwise 'fix' us -- rarely prioritizing the internal experiences that might lead to such differences. Furthermore, a growing body of evidence indicates many of the most popular current approaches risk inflicting lasting trauma and damage on Autistic people. We draw on the principles and findings of the latest Autism research, Feminist HRI, and Robotics to imagine a role reversal, analyze the implications, then conclude with actionable guidance on Autistic-led scientific methods and research directions.

cs.HC↗

arXiv2023

Enactive Artificial Intelligence: Subverting Gender Norms in Robot-Human Interaction

This paper introduces Enactive Artificial Intelligence (eAI) as an intersectional gender-inclusive stance towards AI. AI design is an enacted human sociocultural practice that reflects human culture and values. Unrepresentative AI design could lead to social marginalisation. Section 1, drawing from radical enactivism, outlines embodied cultural practices. In Section 2, explores how intersectional gender intertwines with technoscience as a sociocultural practice. Section 3 focuses on subverting gender norms in the specific case of Robot-Human Interaction in AI. Finally, Section 4 identifies four vectors of ethics: explainability, fairness, transparency, and auditability for adopting an intersectionality-inclusive stance in developing gender-inclusive AI and subverting existing gender norms in robot design.

cs.HC↗

arXiv2022

PD/EUP Workshop Proceedings

People who need robots are often not the same as people who can program them. This key observation in human-robot interaction (HRI) has lead to a number of challenges when developing robotic applications, since developers must understand the exact needs of end-users. Participatory Design (PD), the process of including stakeholders such as end users early in the robot design process, has been used with noteworthy success in HRI, but typically remains limited to the early phases of development. Resulting robot behaviors are often then hardcoded by engineers or utilized in Wizard-of-Oz (WoZ) systems that rarely achieve autonomy. End-User Programming (EUP), i.e., the research of tools allowing end users with limited computer knowledge to program systems, has been widely applied to the design of robot behaviors for interaction with humans, but these tools risk being used solely as research demonstrations only existing for the amount of time required for them to be evaluated and published. In the PD/EUP Workshop, we aim to facilitate mutual learning between these communities and to create communication opportunities that could help the larger HRI community work towards end-user personalized and adaptable interactions. Both PD and EUP will be key requirements if we want robots to be useful for wider society. From this workshop, we expect new collaboration opportunities to emerge and we aim to formalize new methodologies that integrate PD and EUP approaches.

cs.RO↗

arXiv2021

LEADOR: A Method for End-to-End Participatory Design of Autonomous Social Robots

Participatory Design (PD) in Human-Robot Interaction (HRI) typically remains limited to the early phases of development, with subsequent robot behaviours then being hardcoded by engineers or utilised in Wizard-of-Oz (WoZ) systems that rarely achieve autonomy. We present LEADOR (Led-by-Experts Automation and Design Of Robots) an end-to-end PD methodology for domain expert co-design, automation and evaluation of social robots. LEADOR starts with typical PD to co-design the interaction specifications and state and action space of the robot. It then replaces traditional offline programming or WoZ by an in-situ, online teaching phase where the domain expert can live-program or teach the robot how to behave while being embedded in the interaction context. We believe that this live teaching can be best achieved by adding a learning component to a WoZ setup, to capture experts' implicit knowledge, as they intuitively respond to the dynamics of the situation. The robot progressively learns an appropriate, expert-approved policy, ultimately leading to full autonomy, even in sensitive and/or ill-defined environments. However, LEADOR is agnostic to the exact technical approach used to facilitate this learning process. The extensive inclusion of the domain expert(s) in robot design represents established responsible innovation practice, lending credibility to the system both during the teaching phase and when operating autonomously. The combination of this expert inclusion with the focus on in-situ development also means LEADOR supports a mutual shaping approach to social robotics. We draw on two previously published, foundational works from which this (generalisable) methodology has been derived in order to demonstrate the feasibility and worth of this approach, provide concrete examples in its application and identify limitations and opportunities when applying this framework in new environments.

cs.RO↗

arXiv2020

RoboTed: a case study in Ethical Risk Assessment

Risk Assessment is a well known and powerful method for discovering and mitigating risks, and hence improving safety. Ethical Risk Assessment uses the same approach but extends the envelope of risk to cover ethical risks in addition to safety risks. In this paper we outline Ethical Risk Assessment (ERA) and set ERA within the broader framework of Responsible Robotics. We then illustrate ERA with a case study of a hypothetical smart robot toy teddy bear: RoboTed. The case study shows the value of ERA and how consideration of ethical risks can prompt design changes, resulting in a more ethical and sustainable robot.

cs.RO↗

arXiv2020

Robot Accident Investigation: a case study in Responsible Robotics

Robot accidents are inevitable. Although rare, they have been happening since assembly-line robots were first introduced in the 1960s. But a new generation of social robots are now becoming commonplace. Often with sophisticated embedded artificial intelligence (AI) social robots might be deployed as care robots to assist elderly or disabled people to live independently. Smart robot toys offer a compelling interactive play experience for children and increasingly capable autonomous vehicles (AVs) the promise of hands-free personal transport and fully autonomous taxis. Unlike industrial robots which are deployed in safety cages, social robots are designed to operate in human environments and interact closely with humans; the likelihood of robot accidents is therefore much greater for social robots than industrial robots. This paper sets out a draft framework for social robot accident investigation; a framework which proposes both the technology and processes that would allow social robot accidents to be investigated with no less rigour than we expect of air or rail accident investigations. The paper also places accident investigation within the practice of responsible robotics, and makes the case that social robotics without accident investigation would be no less irresponsible than aviation without air accident investigation.

cs.RO↗