# Explicit World Models for Reliable Human-Robot Collaboration

arXiv: https://arxiv.org/abs/2601.01705 · HTML: https://mlsanity.com/paper/2601.01705/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in World models for navigation, one of 11 directions in World models.
- Builds on 3 of its 19 references that are in the map.
- First posted on arXiv 5 Jan 2026.

## Placed in

- World models / [World models for navigation](https://mlsanity.com/wm/world-models-for-navigation/)

## Builds on (most cited first, 3 of 3)

- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [HandMeThat: Human-Robot Communication in Physical and Social Environments](https://mlsanity.com/paper/2310.03779/) (2023)
- [Neuro Symbolic Knowledge Reasoning for Procedural Video Question Answering](https://mlsanity.com/paper/2503.14957/) (2025)

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

- [Human Cognition in Machines: A Unified Perspective of World Models](https://mlsanity.com/paper/2604.16592/) (2026)

## Abstract (arXiv)

This paper addresses the topic of robustness under sensing noise, ambiguous instructions, and human-robot interaction. We take a radically different tack to the issue of reliable embodied AI: instead of focusing on formal verification methods aimed at achieving model predictability and robustness, we emphasise the dynamic, ambiguous and subjective nature of human-robot interactions that requires embodied AI systems to perceive, interpret, and respond to human intentions in a manner that is consistent, comprehensible and aligned with human expectations. We argue that when embodied agents operate in human environments that are inherently social, multimodal, and fluid, reliability is contextually determined and only has meaning in relation to the goals and expectations of humans involved in the interaction. This calls for a fundamentally different approach to achieving reliable embodied AI that is centred on building and updating an accessible "explicit world model" representing the common ground between human and AI, that is used to align robot behaviours with human expectations.