Sep 28, 2026J/K move · Enter open · S save
Dantong Qin, Yike Guo, Qinlin Liu, Alessandro Bozzon+1
Faculty of Industrial Design Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands · Department of Computer Science and Engineering, Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon Hong Kong
Embodied co-painting requires a robot to repeatedly update a shared physical canvas while human intent evolves over interaction. Existing reference-driven painters or reactive assistants are typically optimized for single-shot rendering or sketch completion, limiting their ability to sustain coherent multi-round collaboration or to construct complex, content-rich scenes over time. We present CoBrush, a hierarchical framework that formulates multi-round co-painting as a coordinated semantic, spatial, and execution process. By separating high-level intent inference from spatial grounding and stroke-level control, the system supports progressive scene development on real acrylic canvases. We evaluate the framework through real human-robot painting sessions, stress tests, and user studies. Compared to single-turn baselines, our approach achieves stronger semantic alignment, more stable spatial progression, and higher perceived plausibility of robot actions. These results demonstrate that structured multi-stage reasoning improves the coherence and robustness of interactive painting and supports the progressive development of content-rich physical artworks.