# Crafting with a Robot Assistant: Use Social Cues to Inform Adaptive Handovers in Human-Robot Collaboration

arXiv: https://arxiv.org/abs/2301.02938 · HTML: https://mlsanity.com/paper/2301.02938/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Jan 2023.

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

- [Learning from Humans for Proactive Assistance in Human-Robot Collaborative Transport](https://mlsanity.com/paper/2609.25351/) (2026)

## Abstract (arXiv)

We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities) and painting (creative activities). We collect quantitative and qualitative data from 20 participants in a Wizard-of-Oz study, generating the Functional And Creative Tasks Human-Robot Collaboration dataset (the FACT HRC dataset), available to the research community. This work illustrates how social cues and task context inform the temporal-spatial coordination in human-robot handovers, and how human-robot collaboration is shaped by and in turn influences people's functional and creative activities.