StretchBot: A Neuro-Symbolic Framework for Adaptive Guidance with Assistive Robots
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2026
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866918423135518720 |
|---|---|
| author | Vogelgesang, Luca Soltani, Ahmed Mehdi Khojasteh, Mohammadhossein Zu, Xinrui De Giorgis, Stefano Croitoru, Madalina Ilievski, Filip |
| author_facet | Vogelgesang, Luca Soltani, Ahmed Mehdi Khojasteh, Mohammadhossein Zu, Xinrui De Giorgis, Stefano Croitoru, Madalina Ilievski, Filip |
| contents | Assistive robots have growing potential to support physical wellbeing in home and healthcare settings, for example, by guiding users through stretching or rehabilitation routines. However, existing systems remain largely scripted, which limits their ability to adapt to user state, environmental context, and interaction dynamics. In this work, we present StretchBot, a hybrid neuro-symbolic robotic coach for adaptive assistive guidance. The system combines multimodal perception with knowledge-graph-grounded large language model reasoning to support context-aware adjustments during short stretching sessions while maintaining a structured routine. To complement the system description, we report an exploratory pilot comparison between scripted and adaptive guidance with three participants. The pilot findings suggest that the adaptive condition improved perceived adaptability and contextual relevance, while scripted guidance remained competitive in smoothness and predictability. These results provide preliminary evidence that structured actionable knowledge can help ground language-model-based adaptation in embodied assistive interaction, while also highlighting the need for larger, longitudinal studies to evaluate robustness, generalizability, and long-term user experience. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_00628 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | StretchBot: A Neuro-Symbolic Framework for Adaptive Guidance with Assistive Robots Vogelgesang, Luca Soltani, Ahmed Mehdi Khojasteh, Mohammadhossein Zu, Xinrui De Giorgis, Stefano Croitoru, Madalina Ilievski, Filip Robotics Human-Computer Interaction Assistive robots have growing potential to support physical wellbeing in home and healthcare settings, for example, by guiding users through stretching or rehabilitation routines. However, existing systems remain largely scripted, which limits their ability to adapt to user state, environmental context, and interaction dynamics. In this work, we present StretchBot, a hybrid neuro-symbolic robotic coach for adaptive assistive guidance. The system combines multimodal perception with knowledge-graph-grounded large language model reasoning to support context-aware adjustments during short stretching sessions while maintaining a structured routine. To complement the system description, we report an exploratory pilot comparison between scripted and adaptive guidance with three participants. The pilot findings suggest that the adaptive condition improved perceived adaptability and contextual relevance, while scripted guidance remained competitive in smoothness and predictability. These results provide preliminary evidence that structured actionable knowledge can help ground language-model-based adaptation in embodied assistive interaction, while also highlighting the need for larger, longitudinal studies to evaluate robustness, generalizability, and long-term user experience. |
| title | StretchBot: A Neuro-Symbolic Framework for Adaptive Guidance with Assistive Robots |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2604.00628 |