# Rebellion and Disobedience as Useful Tools in Human-Robot Interaction Research -- The Handheld Robotics Case

arXiv: https://arxiv.org/abs/2205.03968 · HTML: https://mlsanity.com/paper/2205.03968/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 13 references that are in the map.
- First posted on arXiv 8 May 2022.

## Builds on (most cited first, 2 of 2)

- [I Can See Your Aim: Estimating User Attention From Gaze For Handheld Robot Collaboration](https://mlsanity.com/paper/1810.06404/) (2018)
- [Rebellion and Obedience: The Effects of Intention Prediction in Cooperative Handheld Robots](https://mlsanity.com/paper/1903.08158/) (2019)

## Built on by (most cited first, 1 of 1)

- [The Intelligent Disobedience Game: Formulating Disobedience in Stackelberg Games and Markov Decision Processes](https://mlsanity.com/paper/2603.20994/) (2026)

## Abstract (arXiv)

This position paper argues on the utility of rebellion and disobedience (RaD) in human-robot interaction (HRI). In general, we see two main opportunities in the use of controlled and well designed rebellion and disobedience: i) illuminate insight into the effectiveness of the collaboration (or lack of) and ii) prevent mistakes and correct user actions when in the user's own interest. Through the use of a close interaction modality, that of handheld robots, we discuss use cases for utility of rebellion and disobedience that can be applicable to other instances of HRI.