Article

Collaborative Assembly with Dynamic Environment for Human-Robot Interaction via Multi-Modal Large Language Model

2026-03-18

Abstract excerpt

Human-Robot Collaboration (HRC) holds significant potential but is hindered by real-world complexity, dynamism, and ambiguous human instructions. This paper introduces CADE-HRI, a novel multi-modal HRC system enabling natural and flexible interaction for assembly tasks. CADE-HRI integrates diverse sensor inputs—natural language, gesture, real-time visual perception (e.g., object pose, gaze), and force/torque feedb...

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Literature Corpus work: 83df9772-c7d1-5f22-bd08-6d4ada57b6e4
DOI: 10.20944/preprints202603.1482.v1

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