Human-robot collaboration

A non-transitory computer readable medium having stored thereon instructions that, when executed by at least one processor, cause the at least one processor of a human-robot collaboration system to:

• predict a human atomic action by applying a probability density function over a set of possible human atomic actions associated with a predefined task, wherein each human atomic action is defined by pre-conditions specifying a required stable configuration of an element in a scene and post-conditions specifying a resulting stable configuration of the element in the scene after completion of that action;
• plan a motion of the robot based on the predicted human atomic action;
• and
• generate an instruction to cause the robot to perform the motion.

A human-robot collaboration system, comprising:

• a prediction means for predicting a human atomic action by applying a probability density function over a set of possible human atomic actions associated with a predefined task, wherein each human atomic action is defined by pre-conditions specifying a required stable configuration of an element in a scene and post-conditions specifying a resulting stable configuration of the element in the scene after completion of that action;
• a planning means for planning a motion of the robot based on the predicted human atomic action;
• and
• instruction generation means for generating an instruction to cause the robot to perform the motion.