TR2025-134

Hierarchical Task Planning for Human-Robot Collaborative Assembly

    •  Pegoraro, G., Giacomuzzo, G., Terreran, M., Ghidoni, S., Carli, R., Romeres, D., "Hierarchical Task Planning for Human-Robot Collaborative Assembly", IFAC Joint Conference on Computers, Cognition, and Communication, September 2025.
      BibTeX TR2025-134 PDF
      • @inproceedings{Pegoraro2025sep,
      • author = {Pegoraro, Giulia and Giacomuzzo, Giulio and Terreran, Matteo and Ghidoni, Stefano and Carli, Ruggero and Romeres, Diego},
      • title = {{Hierarchical Task Planning for Human-Robot Collaborative Assembly}},
      • booktitle = {IFAC Joint Conference on Computers, Cognition, and Communication},
      • year = 2025,
      • month = sep,
      • url = {https://www.merl.com/publications/TR2025-134}
      • }
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  • Research Area:

    Robotics

Abstract:

We propose E-UHTP, an enhanced task planner for collaborative assembly in communication-free human-robot environments. E-UHTP extends User-aware Hierarchical Task Planning (UHTP) by supporting joint actions, failure recovery, and online replanning. We introduce an automatic Hierarchical Task Network (HTN) generation method from annotated video demonstrations. Experimental simulations in multiple assembly scenarios demonstrate the improved performance, flexibility, and robustness of E-UHTP over baseline planners.