mlsanityData to 7 Oct 2026

To Help or Not to Help: LLM-based Attentive Support for Human-Robot Group Interactions

arXiv 2403.12533 ↗First posted 19 Mar 2024cs.RO cs.AIcited by 10

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Abstract (arXiv)

How can a robot provide unobtrusive physical support within a group of humans? We present Attentive Support, a novel interaction concept for robots to support a group of humans. It combines scene perception, dialogue acquisition, situation understanding, and behavior generation with the common-sense reasoning capabilities of Large Language Models (LLMs). In addition to following user instructions, Attentive Support is capable of deciding when and how to support the humans, and when to remain silent to not disturb the group. With a diverse set of scenarios, we show and evaluate the robot's attentive behavior, which supports and helps the humans when required, while not disturbing if no help is needed.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 23 of its 40 references that are in the map. First posted on arXiv 19 Mar 2024.

Builds on

23 of 40 references.

References · 23

  1. 2022ReAct: Synergizing Reasoning and Acting in Language Modelscited by 8,355
  2. 2023Toolformer: Language Models Can Teach Themselves to Use Toolscited by 4,072
  3. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,302
  4. 2023MemGPT: Towards LLMs as Operating Systemscited by 1,295
  5. 2023Vision-Language Models for Vision Tasks: A Surveycited by 834
  6. 2023Tool Learning with Foundation Modelscited by 302
  7. 2024ToolNet: Connecting Large Language Models with Massive Tools via Tool Graphcited by 59
  8. 2024Understanding Large-Language Model (LLM)-powered Human-Robot Interactioncited by 43
  9. 2023CoPAL: Corrective Planning of Robot Actions with Large Language Modelscited by 39
  10. 2023Large Language Models as Zero-Shot Human Models for Human-Robot Interactioncited by 30
  11. 2023NOPA: Neurally-guided Online Probabilistic Assistance for Building Socially Intelligent Home Assistantscited by 23
  12. 2024Generative Expressive Robot Behaviors using Large Language Modelscited by 22
11 more
  1. 2020Collaborative Storytelling with Large-scale Neural Language Modelscited by 21
  2. 2024LaMI: Large Language Models for Multi-Modal Human-Robot Interactioncited by 21
  3. 2023Incremental Learning of Humanoid Robot Behavior from Natural Interaction and Large Language Modelscited by 19
  4. 2022Proactive Robot Assistance via Spatio-Temporal Object Modelingcited by 18
  5. 2023Improved Trust in Human-Robot Collaboration with ChatGPTcited by 18
  6. 2022Intention estimation from gaze and motion features for human-robot shared-control object manipulationcited by 11
  7. 2022A Survey of Multi-Agent Human-Robot Interaction Systemscited by 10
  8. 2022Two ways to make your robot proactive: reasoning about human intentions, or reasoning about possible futurescited by 3
  9. 2023Group Dynamics: Survey of Existing Multimodal Models and Considerations for Social Mediationcited by 1
  10. 2023What Could a Social Mediator Robot Do? Lessons from Real-World Mediation Scenarioscited by 1
  11. 2023A Study on Social Robot Behavior in Group Conversationcited by 1

Built on by

Cited by year

Citing papers per year: 2024: 3; 2025: 7.

10 papers.

  1. 2024Affordance-based Robot Manipulation with Flow Matchingcited by 54
  2. 2025LLM-Based Human-Agent Collaboration and Interaction Systems: A Surveycited by 28
  3. 2025A Call for Collaborative Intelligence: Why Human-Agent Systems Should Precede AI Autonomycited by 9
  4. 2024Tulip Agent -- Enabling LLM-Based Agents to Solve Tasks Using Large Tool Librariescited by 7
  5. 2024Nadine: An LLM-driven Intelligent Social Robot with Affective Capabilities and Human-like Memorycited by 6
  6. 2025RHINO: Learning Real-Time Humanoid-Human-Object Interaction from Human Demonstrationscited by 4
  7. 2025Graph-Grounded LLMs: Leveraging Graphical Function Calling to Minimize LLM Hallucinationscited by 4
  8. 2025RAIDER: Tool-Equipped Large Language Model Agent for Robotic Action Issue Detection, Explanation and Recoverycited by 2
  9. 2025An LLM-powered Natural-to-Robotic Language Translation Framework with Correctness Guaranteescited by 1
  10. 2025J-ORA: A Framework and Multimodal Dataset for Japanese Object Identification, Reference, Action Prediction in Robot Perceptioncited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024Two Heads Are Better Than One: Collaborative LLM Embodied Agents for Human-Robot Interaction
  2. 2025Evaluating Efficiency and Engagement in Scripted and LLM-Enhanced Human-Robot Interactions
  3. 2025Seeing, Saying, Solving: An LLM-to-TL Framework for Cooperative Robots ↗
  4. 2024EVOLVE: Emotion and Visual Output Learning via LLM Evaluation ↗
  5. 2025Agreeing to Interact in Human-Robot Interaction using Large Language Models and Vision Language Models
  6. 2025Building Knowledge from Interactions: An LLM-Based Architecture for Adaptive Tutoring and Social Reasoning
  7. 2024Are Large Language Models Aligned with People's Social Intuitions for Human-Robot Interactions?
  8. 2024Combining Ontological Knowledge and Large Language Model for User-Friendly Service Robots