Evaluating Zero-Shot and One-Shot Adaptation of Small Language Models in Leader-Follower Interaction
Organizations: University of Sao Paulo, Brazil. · Federal University of Lavras, Brazil. · Faculdade Israelita de Ensino e Pesquisa Albert Einstein, Hospital Israelita Albert Einstein, Brazil.
Abstract
Leader-follower interaction is an important paradigm in human-robot interaction (HRI). Yet, assigning roles in real time remains challenging for resource-constrained mobile and assistive robots. While large language models (LLMs) have shown promise for natural communication, their size and latency limit on-device deployment. Small language models (SLMs) offer a potential alternative, but their effectiveness for role classification in HRI has not been systematically evaluated. In this paper, we present a benchmark of SLMs for leader-follower communication, introducing a novel dataset derived from a published database and augmented with synthetic samples to capture interaction-specific dynamics. We investigate two adaptation strategies: prompt engineering and fine-tuning, studied under zero-shot and one-shot interaction modes, compared with an untrained baseline. Experiments with Qwen2.5-0.5B reveal that zero-shot fine-tuning achieves robust classification performance (86.66% accuracy) while maintaining low latency (22.2 ms per sample), significantly outperforming baseline and prompt-engineered approaches. However, results also indicate a performance degradation in one-shot modes, where increased context length challenges the model's architectural capacity. These findings demonstrate that fine-tuned SLMs provide an effective solution for direct role assignment, while highlighting critical trade-offs between dialogue complexity and classification reliability on the edge.
Figures & tables
| Interaction | Method | Accuracy [%] | Precision [%] | Recall [%] | F1-score [%] | Tokens/s | Latency [ms] |
| Zero-shot | Baseline | 55.00 10.98 | 75.17 21.61 | 16.39 6.53 | 25.99 8.23 | 281.9 105.8 | 33.8 3.7 |
| Prompt Eng. | 53.87 10.38 | 56.80 19.20 | 31.03 12.58 | 38.80 12.66 | 85.9 27.0 | 111.9 40.0 | |
| Fine-tuning | 86.66 6.77 | 84.81 10.07 | 90.05 7.98 | 86.72 6.53 | 432.1 148.2 | 22.2 4.2 | |
| One-shot | Baseline | 48.00 9.09 | 40.83 32.16 | 9.27 7.99 | 14.18 11.39 | 988.63 116.7 | 41.0 2.6 |
| Prompt Eng. | 45.07 8.17 | 42.48 26.49 | 17.41 10.91 | 23.12 13.42 | 305.6 90.7 | 213.8 309.1 | |
| Fine-tuning | 51.65 13.40 | 43.69 45.02 | 8.90 13.29 | 13.07 16.55 | 1851.69 380.09 | 22.2 3.5 |