The Constitutional Controller: Doubt-Calibrated Steering of Compliant Agents

arXiv:2507.15478 · cs.RO, cs.AI, cs.LG · Submitted 2025-07-21 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2025-07-21

Updated: 2026-10-17

Comments: Accepted at the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Steering — 1× in this paper · explained in 2 episodes
• Structured Reasoning — 1× in this paper · explained in 3 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies