papers
Publications (2)
cs.RO2026
Do Robots Need Body Language? Comparing Communication Modalities for Legible Motion Intent in Human-Shared Spaces
Jonathan Albert Cohen, Kye Shimizu, Allen Song +3
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as exp…
cs.AI2026
When Does Delegation Beat Majority? A Delegation-Based Aggregator for Multi-Sample LLM Inference
Yasushi Sakai, Allen Song, Kent Larson
Majority voting is the default unsupervised aggregator for multi-sample LLM inference, but it discards two signals: within-group answer entropy and between-group reasoning geometry…