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The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments, where they operate side by side with humans to achieve shared tasks. However, little progress has been made toward the development of systems that are truly effective in supporting the human, proactive in their collaboration, and that can autonomously take care of part of the task. In this work, we present a collaborative system capable of assisting a human worker despite limited manipulation capabilities, incomplete model of the task, and partial observability of the environment. Our framework leverages information from a high-level, hierarchical model that is shared between the human and robot and that enables transparent synchronization between the peers and mutual understanding of each other’s plan. More precisely, we firstly derive a partially observable Markov model from the high-level task representation; we then use an online Monte-Carlo solver to compute a short-horizon robot-executable plan. The resulting policy is capable of interactive replanning on-the-fly, dynamic error recovery, and identification of hidden user preferences. We demonstrate that the system is capable of robustly providing support to the human in a realistic furniture construction task. 

Human–computer conversation has long been an interest of artificial intelligence and natural language processing research. Recent years have seen a dramatic improvement in quality for both task-oriented and open-domain dialogue systems, and an increasing amount of research in the area. The goal of this work is threefold: (1) to provide an overview of recent advances in the field of open-domain dialogue, (2) to summarize issues related to ethics, bias, and fairness that the field has identified as well as typical errors of dialogue systems, and (3) to outline important future challenges. We hope that this work will be of interest to both new and experienced researchers in the area.