# Robots Can Feel: LLM-based Framework for Robot Ethical Reasoning

arXiv: https://arxiv.org/abs/2405.05824 · HTML: https://mlsanity.com/paper/2405.05824/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 May 2024.

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

- [ResponsibleRobotBench: Benchmarking Responsible Robot Manipulation using Multi-modal Large Language Models](https://mlsanity.com/paper/2512.04308/) (2025)

## Abstract (arXiv)

This paper presents the development of a novel ethical reasoning framework for robots. "Robots Can Feel" is the first system for robots that utilizes a combination of logic and human-like emotion simulation to make decisions in morally complex situations akin to humans. The key feature of the approach is the management of the Emotion Weight Coefficient - a customizable parameter to assign the role of emotions in robot decision-making. The system aims to serve as a tool that can equip robots of any form and purpose with ethical behavior close to human standards. Besides the platform, the system is independent of the choice of the base model. During the evaluation, the system was tested on 8 top up-to-date LLMs (Large Language Models). This list included both commercial and open-source models developed by various companies and countries. The research demonstrated that regardless of the model choice, the Emotions Weight Coefficient influences the robot's decision similarly. According to ANOVA analysis, the use of different Emotion Weight Coefficients influenced the final decision in a range of situations, such as in a request for a dietary violation F(4, 35) = 11.2, p = 0.0001 and in an animal compassion situation F(4, 35) = 8.5441, p = 0.0001. A demonstration code repository is provided at: https://github.com/TemaLykov/robots_can_feel