Human-Robot Collaboration

Latest papers 171

32 papers in the last four weeks, up 129% on the four weeks before. 0.2% of all new papers.

Human-Robot Interaction in GenAI Architectures via the Agent-Client Protocol
Jul 16, 2026Jesus Moncada-Ramirez, Jose-Raul Ruiz-Sarmiento, Javier Gonzalez-JimenezAgent Communication Protocols LLM Agent Orchestration
Machine Perception and Intelligent Robotics Group (MAPIR-UMA), Malaga Institute for Mechatronics Engineering and Cyber-Physical Systems (IMECH.UMA), University of Malaga, 29071 M´alaga, Spain
Zero2Skill: Bootstrapping Robot Skills through Autonomous Data Collection, Training, and Deployment
Jul 15, 2026Boyuan Wang, Zhenyuan Zhang, Zhiqin Yang +16Robot Policy Learning Robotic Data Collection
GigaAI · University of Chinese Academy of Sciences · Hong Kong University of Science and Technology +6
Anatomy of Uncertainty: Expressive Descriptors of Robotic Manipulator Motion for Non-verbal Communication in Human-Robot Collaboration
Jul 15, 2026Ridhima Bector, Souravik Dutta, Poornima Ramachandran +4Robot Motion Generation Human-Robot Collaboration
School Of Art, Design and Media, Nanyang Technological University, 81 Nanyang Drive, Singapore 637458 · School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Ave, Block N3, Nanyang Avenue, 639798
Active Trust Management for Successful Human-Robot Teaming: Moving from a Trust Repair to a Trust Satisficing Perspective
Jul 15, 2026Nicola Webb, Edmund R. HuntHuman-Robot Collaboration Trust in AI
School of Engineering Mathematics & Technology, University of Bristol
Analysis of Mutual and Referential Human and Robot Gazes in a Collaborative Word Association Game
Jul 13, 2026Jens V. Rüppel, Tim Schreiter, Andrey Rudenko +1Human-Robot Collaboration Human-Robot Interaction
Chair of Perception for Intelligent Systems, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany · Robotics Insitute Germany (RIG), Germany · Centre for Applied Autonomous Sensor Systems (AASS), Örebro University, Sweden
Robotic Contextual Awareness for Human-Robot Collaboration and Environmental Understanding
Jul 11, 2026Federico RolloMobile Robotics Human-Robot Collaboration
Università di Trento · Istituto Italiano di Tecnologia
HRIBench: Benchmarking Interaction-Centric Human-Robot Collaboration
Jul 5, 2026Chang Liu, Jiawei Zhang, Tao Zhang +3Robot Foundation Models Human-Robot Collaboration
1Renmin University of China · 2Beijing Normal University
A Vision Based System for Guided and Collaborative Reconstruction of Fragmented Documents
Jul 3, 2026Oliver Krumpek, Diana LeoHuman-Robot Collaboration Cultural Heritage
Fraunhofer IPK, dept. Machine Vision, Pascalstr. 8-9, 10587 Berlin, Germany
HABIT: Human-Aware Behavior and Interaction Training Dataset for Robot Manipulation
Jun 30, 2026Jaehwi Song, Suchae Jeong, Byeongguk Jeon +4Robot Policy Learning Robotic Data Collection
Config · Config, KAIST
A Linear Matching Bandit Approach to Online Multi-Human Multi-Robot Teaming
Jun 28, 2026Yaohui Guo, X. Jessie Yang, Cong ShiMulti-Armed Bandits Human-Robot Collaboration
Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI 48105
When May I Help You? On The Effect of Proactivity on Group Human-Robot Collaboration
Jun 26, 2026Thomas Vitry, Vanessa Maeder, Kieran von Valeburg +6Proactive Assistance Human-Robot Collaboration
Knowledge Technology, University of Hamburg, Hamburg, Germany · Ecole Normale Superieure de Rennes, Rennes, France
Emcar: Embodied Controller for Animating Robots
Jun 24, 2026Carlos Gomez Cubero, Elizabeth JochumRobotics Robot Motion Generation
CREATE, Aalborg University, Aalborg, Denmark · CyPhy Life, Robotics and AI Lab, School of Science & Technology, IE University, Madrid, Spain · Department of Communication and Psychology, Aalborg University, Aalborg, Denmark
One Body, Two Minds: Variable Autonomy Approach for a Co-embodied Robotic Hand
Jun 24, 2026Piotr Koczy, Yuchong Zhang, Danica Kragic +1Robotics Human-Robot Collaboration
KTH Royal Institute of Technology, Stockholm, Sweden. · INCAR Robotics AB, Stockholm, Sweden.
ARTOO-DARTU: Studying AR-HRC With AR Obstruction Mitigation During a Warehouse Task
Jun 23, 2026Christian Fronk, Hanting Ye, Zhehan Qu +1Occlusion Reasoning Robotics
Electrical and Computer Engineering, Duke University, Durham, NC, USA · Department of Computer Science, Duke University, Durham, NC, USA
fARfetch: Enabling Collocated AR-HRC in Large Visually Diverse Environments with VLM-Driven AR Content Adaptation
Jun 23, 2026Christian Fronk, Hanting Ye, David Hunt +2Mobile Robotics Human-Robot Collaboration
Department of Electrical and Computer Engineering, Duke University, Durham, NC 27708 USA
Legible and Intuitive Multi-modal Robot State and Intent Communication Validated in Online and Real-world Studies
Jun 23, 2026Tim Schreiter, Jens V. Rüppel, Andrey Rudenko +2Human-Robot Collaboration Human-Robot Interaction
Chair of Perception for Intelligent Systems, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany · Robotics Institute Germany (RIG) · Centre for Applied Autonomous Sensor Systems (AASS), Örebro University, Sweden
Integrated cloud-based architecture for robot-robot and human-robot collaboration using ROS 2--MQTT in Mediterranean Greenhouses
Jun 21, 2026F. Cañadas-Aránega, M. Muñoz, J. C. Moreno +1Robotics Multi-Robot Coordination
Department of Informatics, CIESOL, ceiA3, Universidad de Almería, Ctra.2026 Sacramento s/n, Almería, 04120, Spain · Department of Engineering, CIESOL, ceiA3, Universidad de Almería, Ctra. Sacramento s/n, Almería, 04120, Spain
Robust Assembly State Reasoning from Action Recognition for Human-Robot Collaboration
Jun 18, 2026James Fant-Male, Roel PietersHuman-Robot Collaboration Robotic Assembly
Cognitive Robotics group, Unit of Automation Technology and Mechanical Engineering, Tampere University, 33720, Tampere, Finland
Co-policy: Responsive Human-Robot Co-Creation for Musical Performances
Jun 18, 2026Xuetao Li, Wenke Huang, Mang Ye +4Policy Optimization Robot Motion Generation
School of Computer Science, Wuhan University, Wuhan, China · College of Computing and Data Science, Nanyang Technological University, Singapore · School of Automation, Wuhan University of Technology, Wuhan, China +2
Toward Machine Risk Perception: Integrating Trust Calibration and Precursor-Based Risk Estimation for Humanoid
Jun 18, 2026He WenHuman-Robot Collaboration Human-Robot Interaction
AI Safety Lab, Bailey College of Engineering & Technology, Indiana State University, Terre Haute, IN
Improving Human-Robot Teamwork in Urban Search and Rescue Through Episodic Memory of Prior Collaboration
Jun 17, 2026Taewoon Kim, Emma van Zoelen, Mark NeerincxEpisodic Memory Robotics
HumemAI, The Netherlands · Vrije Universiteit Amsterdam, The Netherlands · TNO, The Netherlands
From Ad Hoc Pilots to Repeatable Patterns: Structuring Drone Collaboration in Emergency Services with DroneLets
Jun 16, 2026Dzmitry Katsiuba, Samuel Brander, Mateusz Dolata +1Aerial Robotics Human-Robot Collaboration
University of Zurich Zurich, Switzerland · Zeppelin University Friedrichshafen, Germany
Accountability in Autonomous Drone-Based Firefighting: Insights From a Field Trial
Jun 16, 2026Dzmitry Katsiuba, Anna Katharina Boos, Robin Hany +2AI Accountability Human-Robot Collaboration
University of Zurich · Zeppelin University
HATS: A Human-Agent Teleoperation System for Multi-Arm Data Collection
Jun 15, 2026Zesen Lin, Jian-Jian Jiang, Haoming Cen +3Robotic Data Collection Robot Teleoperation
School of Computer Science and Engineering, Sun Yat-sen University, China · 2Nanyang Technological University, Singapore · 3Imperial College London, UK
Understanding and Modeling Perceived Cognitive and Physical Strain Dynamics for Planning-Oriented Human-Robot Collaboration in Prefabricated Construction
Jun 13, 2026Yifan Wang, Bo Xiao, Shane T. MuellerHuman-Robot Collaboration
Ph.D. Candidate, Department of Civil, Environmental, and Geospatial Engineering, Michigan Technological University, Houghton, 49931 MI, USA. · Assistant Professor, Department of Civil, Environmental, and Geospatial Engineering, Michigan Technological University, Houghton, 49931 MI, USA. · Professor, Department of Psychology and Human Factors, Michigan Technological University, Houghton, 49931 MI, USA.
OSDAG: Online Scheduling for Efficient Multi-Robot Collaboration
Jun 13, 2026Thanh Nguyen Canh, Thang Tran Viet, Phuc Van Dinh +2Multi-Robot Systems Large Language Model-Based Robot Planning
School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, 923-1211, Ishikawa, Japan. · University of Engineering and Technology, Vietnam National University, 10000, Hanoi, Vietnam. · Department of Robotics, Hanyang University, Ansan, 15588, Gyeonggi, Korea.
WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning
Jun 11, 2026Jaehwi Jang, Zhaoyuan Gu, Alfred Cueva +15Contact-Rich Robotic Manipulation Whole-Body Robotic Manipulation
The Institute for Robotics and Intelligent Machines, Georgia Institute of Technology
Embedding ISO 10218 Safety Compliance in Robots via Control Barrier Functions for Human-Robot Collaboration
Jun 11, 2026Federico Parma, Cesare Tonola, Nicola Pedrocchi +1Control Barrier Functions Robotics
Dept. of Electrical and Information Engineering, Polytechnic of Bari, Italy · Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Italy · Institute of Intelligent Industrial Technologies and Systems, National Research Council of Italy, STIIMA-CNR, Milan, Italy
Semantically-Aware Diver Activity Recognition Framework for Effective Underwater Multi-Human-Robot Collaboration
Jun 10, 2026Sadman Sakib Enan, Junaed SattarHuman Activity Recognition Human-Robot Collaboration
department of Computer Science & Engineering and the Minnesota Robotics Institute, University of Minnesota, MN, USA
Human-Guided Co-Manipulation of Carbon Fiber Plies
Jun 10, 2026Rami Ojanen, James Fant-Male, Roel PietersDeformable Object Manipulation Human-Robot Collaboration
Automation Technology and Mechanical Engineering, Tampere University, 33720, Tampere, Finland

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Human-Robot Interaction in GenAI Architectures via the Agent-Client Protocol

Jesus Moncada-Ramirez, Jose-Raul Ruiz-Sarmiento, Javier Gonzalez-Jimenez

Machine Perception and Intelligent Robotics Group (MAPIR-UMA), Malaga Institute for Mechatronics Engineering and Cyber-Physical Systems (IMECH.UMA), University of Malaga, 29071 M´alaga, Spain

Agent Communication Protocols LLM Agent Orchestration Human-in-the-Loop AI Human-Robot Collaboration Human-Robot Interaction

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Recent advances in Generative Artificial Intelligence (GenAI), particularly Large Language Models (LLMs), are driving robotic architectures toward agent-based high-level orchestration, in which natural-language instructions can be translated into context-aware action sequences. While the integration of these agents and robotic capabilities is increasingly converging toward standardization through the Model Context Protocol (MCP), the upper Human-Robot Interaction (HRI) layer remains fragmented by proprietary, ad hoc interfaces that hinder real-time human-in-the-loop collaboration. To address this fragmentation, this paper proposes the adoption of the Agent-Client Protocol (ACP) -- a communication standard originally introduced for coding agents in software engineering -- as a unified communication contract for the HRI layer in agent-based robotic systems. By combining ACP at the interface-agent link and MCP at the agent-execution link, we formulate a fully decoupled three-layer architecture that separates human interaction, deliberative orchestration, and physical execution. This topology removes rigid architectural dependencies, enabling heterogeneous user interfaces to connect to the same robotic system and allowing the underlying robotic platform to be replaced without requiring client-specific integration changes. Moreover, it provides native support for collaborative HRI capabilities such as real-time observability, explicit human authorization, and immediate task interruption. We experimentally evaluate the proposed architecture on a physical mobile robot, demonstrating interoperability across three heterogeneous user interfaces and validating real-time human-in-the-loop workflows with negligible latency overhead.