# Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration

arXiv: https://arxiv.org/abs/2206.01775 · HTML: https://mlsanity.com/paper/2206.01775/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Jun 2022.

## Built on by (most cited first, 1 of 1)

- [Learning Latent Representations to Co-Adapt to Humans](https://mlsanity.com/paper/2212.09586/) (2022)

## Abstract (arXiv)

A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with the human on different sub-tasks independently in a shared space. Cooperation mode enables the robot to follow human guidance and recover failures. A human intention tracking algorithm takes in both human and robot motion measurements as input and provides a switch on the interaction modes. We demonstrate the effectiveness of CoCo system in a use case analogous to a real world multi-step assembly task.