A Human-in-the-loop Confidence-Aware Failure Recovery Framework for Modular Robot Policies

Rohan Banerjee1, Krishna Palempalli*1, Bohan Yang*1, Jiaying Fang1, Alif Abdullah1, Tom Silver2, Sarah Dean†1, Tapomayukh Bhattacharjee†1 1Cornell University,2 Princeton University

Paper + Appendix

BibTeX

@inproceedings{banerjee2026modularhil,
      author    = {Banerjee, Rohan and Palempalli, Krishna and Yang, Bohan and Fang, Jiaying and Abdullah, Alif and Silver, Tom and Dean, Sarah and Bhattacharjee, Tapomayukh},
      title     = {A Human-in-the-Loop Confidence-Aware Failure Recovery Framework for Modular Robot Policies},
      booktitle = {Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
      year      = {2026},
}