[2605.02983] Human-in-the-Loop Uncertainty Analysis in Self-Adaptive Robots Using LLMs
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Computer Science > Robotics
arXiv:2605.02983 (cs)
[Submitted on 4 May 2026]
Title:Human-in-the-Loop Uncertainty Analysis in Self-Adaptive Robots Using LLMs
Authors:Hassan Sartaj, Jalil Boudjadar, Mirgita Frasheri, Shaukat Ali, Peter Gorm Larsen
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Abstract:Self-adaptive robots operate in dynamic, unpredictable environments where unaddressed uncertainties can lead to safety violations and operational failures. However, systematically identifying and analyzing these uncertainties, including their sources, impacts, and mitigation strategies, remains a significant challenge given the inherent complexity of real-world environments, dynamic robotic behavior, and the rapid evolution of robotic technologies. To address this, we introduce RoboULM, a human-in-the-loop methodology and tool that supports practitioners in systematically exploring uncertainties at the design stage using large language models (LLMs). Moreover, we present an uncertainty taxonomy that provides a detailed catalog of uncertainties in self-adaptive robots. We evaluated RoboULM with 16 practitioners from four industrial use cases. The results show that RoboULM was perceived as both useful and easy to understand, with the participants particularly valuing structured prompting and iterative refinement support. These findings demonstrate the potential of RoboULM as a viable solution for systematic uncertainty analysis in complex robots.
Subjects:
Robotics (cs.RO); Software Engineering (cs.SE)
Cite as: arXiv:2605.02983 [cs.RO]
(or arXiv:2605.02983v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.02983
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arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Hassan Sartaj [view email] [v1] Mon, 4 May 2026 09:32:14 UTC (1,793 KB)
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