Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Hierarchical Intention Tracking for Robust Human-Robot Collaboration in
  Industrial Assembly Tasks   Collaborative robots require effective intention estimation to safely and
smoothly work with humans in less structured tasks such as industrial assembly.
During these tasks, human intention continuously changes across multiple steps,
and is composed of a hierarchy including high-level interactive intention and
low-level task intention. Thus, we propose the concept of intention tracking
and introduce a collaborative robot system with a hierarchical framework that
concurrently tracks intentions at both levels by observing force/torque
measurements, robot state sequences, and tracked human trajectories. The
high-level intention estimate enables the robot to both (1) safely avoid
collision with the human to minimize interruption and (2) cooperatively
approach the human and help recover from an assembly failure through admittance
control. The low-level intention estimate provides the robot with task-specific
information (e.g., which part the human is working on) for concurrent task
execution. We implement the system on a UR5e robot, and demonstrate robust,
seamless and ergonomic collaboration between the human and the robot in an
assembly use case through an ablative pilot study.

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The categories of this paper are: atom-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: hep-ex
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The categories of this paper are: q-alg
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The categories of this paper are: q-fin
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The categories of this paper are: cond-mat
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The categories of this paper are: dg-ga
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The categories of this paper are: alg-geom
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The categories of this paper are: funct-an
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The categories of this paper are: astro-ph
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The categories of this paper are: math
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The categories of this paper are: chao-dyn
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The categories of this paper are: nucl-ex
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The categories of this paper are: hep-lat
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The categories of this paper are: chem-ph
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The categories of this paper are: nlin