Generating a plausible robot action does not establish that current observations justify its execution. Motivated by exploratory observations of high-confidence visual outputs under severe occlusion, we present PIER, an execution-authorization interface that separates evidence checks, decision provenance, and stage-sco …
Robotic systems operating over extended tasks must maintain a world state assembled from observations arriving at different times, with varying confidence and potential revisions. Conventional representations emphasize latest estimates, hindering fact provenance, decision reproduction, or execution auditing. We present …
Robots can recall prior failures without knowing whether recalled evidence remains valid, conflicts with current observations, or is sufficient to guide a decision. We present CoreSense, a robot-system integration architecture that combines traceable episodic evidence with a conflict-aware belief gate and bounded, audi …