Event-Driven Proactive Robot Assistance through Vision-Language Reasoning

Abstract:Assistance in collaborative manipulation is often initiated by user instructions, making high-level reasoning request-driven. In fluent human teamwork, however, partners often infer the next helpful step from the observed outcome of an action rather than waiting for instructions. Motivated by this, we investigate an event-driven formulation of proactive assistance, where human--object interaction outcomes initiate assistive reasoning without user-provided task specifications at inference time. To this end, we propose an event-driven framework that monitors workspace state changes with an event monitor and, upon event completion, extracts stabilized pre/post snapshots that characterize the resulting state transition. A frozen pretrained Vision-Language Model (VLM) then uses its semantic priors to infer the task context, decide whether assistance is appropriate, and, when needed, generate a sequence of assistive actions from the observed transition. To make outputs executable and verifiable, we restrict actions to a set of action primitives and reference objects via integer this http URL evaluate the same framework across three distinct real world tabletop collaboration tasks without task-specific training or fine-tuning. The event-driven framework achieves performance comparable to variants given user instructions.

Robotics (cs.RO)

arXiv:2610.08344 [cs.RO]

(or arXiv:2610.08344v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.08344 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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