Equipping humanoid robots with coherent and adaptable personas is crucial for fostering natural, engaging, and trustworthy human-robot interaction (HRI). However, existing approaches often rely on static, hard-coded identities that lack the flexibility to adapt to individual user contexts. In this paper, we present PACE (Persona Adaptation through Conversational Elicitation), a novel framework for the interactive generation and deployment of structured personas on the Ameca humanoid robot. Our system introduces an Interactive Persona Elicitation Pipeline, enabling the robot to dynamically synthesize a tailored, psychologically grounded identity through user Q&A. This elicitation process feeds into a persona prompt compilation phase, generating a structured persona prompt built upon multi-perspective dimensions. We detail the Embodied System Integration required to translate this structured specification into expressive, multimodal humanoid behaviors. Through a comprehensive empirical HRI evaluation, we assess the impact of dynamically generated personas on user trust, perceived anthropomorphism, persona consistency, personal relevance, and interaction quality compared to a generic baseline. These contributions establish a scalable pathway for deploying personalized, interactive, and reliable identities in embodied humanoid assistants. Video demo is available at: https://lipzh5.github.io/PACE/
Peizhen Li, Longbing Cao, Megani Rajendran et al.· 0 citations
Compositional visual question answering requires Vision-Language Models (VLMs) to execute multiple reasoning operations like object selection, spatial relation resolution, and attribute verification. Despite strong aggregate performance, the mechanistic basis of VLM failures on this task remains underexplored. To address this gap, we analyze vision-operation misalignment in VLMs by examining how failures relate to specific reasoning operations and the internal computational pathways through which they arise and propagate. We introduce an Operation-centric mechanistic framework that decomposes VLM failures by both the reasoning operation where they originate and the internal computational pathway through which they propagate. Our analysis reveals four dominant failure modes: grounding failure, reasoning failure, attribute extraction failure, and language-prior dominance, each characterized by a distinct relationship between visual grounding strength and answer correctness. Through three complementary causal interventions applied across all transformer layers, we find that object-selection failures are associated primarily with feedforward computation, multi-step relational failures with late-layer direct attention, and attribute-extraction failures with answer-position feedforward computation. Validation on VSR further shows that single-step spatial failures are concentrated at object-position encoding, distinguishing them from multi-step relational composition. These findings reveal distinct computational bottlenecks across operation types and provide a principled basis for targeted diagnosis of VLM failures in multimedia reasoning.
Navya Gupta, Bingjie Xu, Avinash Anand et al.· 0 citations