# Robotic Vision for Human-Robot Interaction and Collaboration: A Survey and Systematic Review

arXiv: https://arxiv.org/abs/2307.15363 · HTML: https://mlsanity.com/paper/2307.15363/

## Key facts

- Cited by 25 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Jul 2023.

## Built on by (most cited first, 25 of 25)

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- [HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Collaborative roBOTs](https://mlsanity.com/paper/2309.16524/) (2023)
- [XStreamVGGT: Extremely Memory-Efficient Streaming Vision Geometry Grounded Transformer with KV Cache Compression](https://mlsanity.com/paper/2601.01204/) (2026)
- [USER-VLM 360: Personalized Vision Language Models with User-aware Tuning for Social Human-Robot Interactions](https://mlsanity.com/paper/2502.10636/) (2025)
- [Perception for Humanoid Robots](https://mlsanity.com/paper/2309.15616/) (2023)
- [XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration](https://mlsanity.com/paper/2406.15833/) (2024)
- [HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction](https://mlsanity.com/paper/2506.20566/) (2025)
- [Gesturing Toward Abstraction: Multimodal Convention Formation in Collaborative Physical Tasks](https://mlsanity.com/paper/2602.08914/) (2026)
- [Contrastive Learning from Exploratory Actions: Leveraging Natural Interactions for Preference Elicitation](https://mlsanity.com/paper/2501.01367/) (2025)
- [Target-Oriented Object Grasping via Multimodal Human Guidance](https://mlsanity.com/paper/2408.11138/) (2024)
- [COMIX: Compositional Explanations using Prototypes](https://mlsanity.com/paper/2501.06059/) (2025)
- [Dynamic Scene Understanding from Vision-Language Representations](https://mlsanity.com/paper/2501.11653/) (2025)
- [SPKLIP: Aligning Spike Video Streams with Natural Language](https://mlsanity.com/paper/2505.12656/) (2025)
- [DiG-Net: Enhancing Human-Robot Interaction through Hyper-Range Dynamic Gesture Recognition in Assistive Robotics](https://mlsanity.com/paper/2505.24786/) (2025)
- [Uncertainty Aware-Predictive Control Barrier Functions: Safer Human Robot Interaction through Probabilistic Motion Forecasting](https://mlsanity.com/paper/2508.20812/) (2025)
- [Large-FOV RGBD Imaging via Structured PSF Coding in a Bio-inspired Monocentric System](https://mlsanity.com/paper/2510.25314/) (2025)
- [M2I2HA: Multi-modal Object Detection Based on Intra- and Inter-Modal Hypergraph Attention](https://mlsanity.com/paper/2601.14776/) (2026)
- [XStreamVGGT: Extremely Memory-Efficient Streaming Vision Geometry Grounded Transformer with KV Cache Compression](https://mlsanity.com/paper/2602.21780/) (2026)
- [Improving through Interaction: Searching Behavioral Representation Spaces with CMA-ES-IG](https://mlsanity.com/paper/2603.09011/) (2026)
- [From Instructions to Assistance: a Dataset Aligning Instruction Manuals with Assembly Videos for Evaluating Multimodal LLMs](https://mlsanity.com/paper/2603.22321/) (2026)
- [AnyUser: Translating Sketched User Intent into Domestic Robots](https://mlsanity.com/paper/2604.04811/) (2026)
- [Responsible Personalisation: The Double-Edged Sword of Personalisation in Human-Robot Interaction](https://mlsanity.com/paper/2607.06344/) (2026)
- [Event Burst Trigger: An Availability Backdoor Attack on Event-Based SNN Object Detection](https://mlsanity.com/paper/2607.09115/) (2026)
- [Time-Reversed Imaging: A Multimodal Benchmark and Framework for Reconstructing Past Human-Environment Interactions](https://mlsanity.com/paper/2607.22352/) (2026)

## Abstract (arXiv)

Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to people. This survey and systematic review presents a comprehensive analysis on robotic vision in human-robot interaction and collaboration over the last 10 years. From a detailed search of 3850 articles, systematic extraction and evaluation was used to identify and explore 310 papers in depth. These papers described robots with some level of autonomy using robotic vision for locomotion, manipulation and/or visual communication to collaborate or interact with people. This paper provides an in-depth analysis of current trends, common domains, methods and procedures, technical processes, data sets and models, experimental testing, sample populations, performance metrics and future challenges. This manuscript found that robotic vision was often used in action and gesture recognition, robot movement in human spaces, object handover and collaborative actions, social communication and learning from demonstration. Few high-impact and novel techniques from the computer vision field had been translated into human-robot interaction and collaboration. Overall, notable advancements have been made on how to develop and deploy robots to assist people.