InterSocialBench: Benchmarking Human and LLM Preferences for Companion-Robot Social Behavior

Abstract:Companion robots face everyday situations in which several feasible behaviors may be appropriate, yet different people prefer different responses. We introduce InterSocialBench, a benchmark of 210 domestic scenarios and 18 high-level behaviors, pairing judgments from 100 human participants with 23,520 responses from seven large language models under 16 personality conditions. Each human annotation preserves a preferred action alongside explicitly appropriate and inappropriate candidates. A structured construction pipeline covers behavioral alternatives, competing situational cues, and relevant history and future tasks. Evaluation distinguishes preferred-choice agreement from explicit rejection, using scenario-grouped splits for trainable predictors. Simple frequency and persona-voting baselines illustrate these objectives. Across the tested prompts, model and human behavior distributions differ, and the diversity gap remains after matching response counts: humans exhibit 4.68 distinct choices per scenario, compared with 2.06--3.46 for the models. Human scenario-level plurality agreement is 51.5%, describing disagreement rather than a universal prediction ceiling. InterSocialBench supports evaluating social behavior selection without replacing individual judgments with a single consensus label.

Robotics (cs.RO)

arXiv:2609.15455 [cs.RO]

(or arXiv:2609.15455v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.15455 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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