Not All Agreement Counts as Corroboration: Provenance-Conserving Multi-View Fusion for Typed Action Admission in Human-Robot Collaboration

The paper introduces PACT, a provenance‑conserving fusion method for typed action admission in human‑robot collaboration. PACT treats evidence countability as a relational variable, using a supplied provenance partition to define countable units and accumulating support only across these units. Experiments on 31,200 evaluations in 48 scene clusters show that PACT achieves a lower normalized risk‑coverage area than singleton aggregation, and in offline human‑robot collaboration it admits 47 of 57 reference‑consistent candidates without any reference‑inconsistent admissions.

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• robotics
• safety