CEMIR対FISER：語用意図認識における推論ベースと情報拡充ベースの比較研究
CEMIR vs. FISER: a comparative study of reasoning-based and enrichment-based approaches to pragmatic intent recognition
ロボットの意図認識手法であるFISER（構造化推論）とCEMIR（マルチモーダル情報拡充）を4種のLLMとHandMeThat v2で比較し、性能差が統計的に有意でないことを示した診断的研究。
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著者: Ziya Hosseynzadeh, Farjad Fallah, Farnoosh Fallah, Soroush Gooran, Mohammad Amanloo, Hossein Sameti
分類: cs.AI, cs.RO
原文アブストラクト
Intent recognition in human-robot interaction requires agents to resolve ambiguous natural language instructions by inferring the speaker's underlying goals. Research has increasingly focused on two notable paradigms for addressing this task: structured symbolic reasoning and multimodal input enrichment. However, it remains unclear whether enrichment-based methods provide benefit in settings where the ambiguity concerns unstated human intent rather than missing observable scene information. In this paper, we present a comparative and diagnostic study benchmarking FISER - a framework utilizing structured social and embodied reasoning - against CEMIR (Context-Enriched Multimodal Intent Recognition), a method that performs multimodal enrichment by synthesizing narratives and photorealistic images from textual prompts. By evaluating both approaches across four Large Language Models (LLMs), ranging from Qwen2.5-Omni-3B to GPT-5, on the HandMeThat v2 benchmark, we analyze their capability to resolve pragmatic ambiguities. Our statistical analysis, employing multiple-comparison correction, reveals no statistically significant difference in performance between FISER and CEMIR across any model or difficulty level. This pattern holds across all sixteen model-by-difficulty comparisons, as well as in a targeted ablation isolating CEMIR's narrative and visual components. Instead, performance is primarily associated with backbone capability and the inherent difficulty of the ambiguity. These findings suggest a boundary condition for text-derived multimodal enrichment: when the relevant task constraints are already available in the textual instruction, synthetic multimodal augmentation may not provide measurable benefit over structured reasoning on the same text.