الملخص
Long-horizon surgical assistance requires humanoid robots to coordinate with evolving human activities while maintaining safety across planning and execution. We present RoboAssist, an agent-based framework for interactive human-humanoid planning that integrates workflow reasoning, task coordination, and cross-layer safety. At its core is an asymmetric dual-track representation that separates partially observed human process states from executable robot task sequences. By updating human-process estimates, scene context, and task dependencies online, RoboAssist revalidates the remaining task sequence and replans only the affected suffix when workflow requests change. A cross-layer safety architecture combines preventive navigation regulation, reactive regulation during close-range handover, and independent whole-body runtime supervision. This design couples online task coordination with safety constraints throughout execution. We demonstrate the framework on a Unitree G1 humanoid robot in long-horizon, multi-stage simulated surgical assistance scenarios encompassing multimodal interaction, instrument handling, medical material transport, navigation, and safe human-robot handover. Experiments show multi-stage task completion and adaptation to workflow-request changes. A targeted full-replanning ablation shows that residual replanning reduces plan-update latency and post-update token usage. Separate safety experiments demonstrate complementary protection across navigation, handover, and runtime supervision. Additional results and demonstrations are available online at https://roboassist.github.io.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Jia, J., Zhou, K., Wang, J., Xu, P., Zhou, X., Wang, L., Chen, J., Li, G., Wang, J., & Li, S. (2026). RoboAssist: Interactive Human-Humanoid Planning for Long-Horizon Surgical Assistance. https://omanscience.com/ar/articles/roboassist-interactive-human-humanoid-planning-for-long-horizon-surgical-assistance
MLA 9
Jia, Jingwei, et al. "RoboAssist: Interactive Human-Humanoid Planning for Long-Horizon Surgical Assistance." https://omanscience.com/ar/articles/roboassist-interactive-human-humanoid-planning-for-long-horizon-surgical-assistance.
شيكاغو (المؤلف–التاريخ)
Jia, Jingwei, Keyu Zhou, Jiewei Wang, Peisen Xu, Xingyuan Zhou, Liang Wang, Jiming Chen, Gaofeng Li, Jin Wang, and Shunlei Li. 2026. "RoboAssist: Interactive Human-Humanoid Planning for Long-Horizon Surgical Assistance." https://omanscience.com/ar/articles/roboassist-interactive-human-humanoid-planning-for-long-horizon-surgical-assistance.
هارفارد
Jia, J., Zhou, K., Wang, J., Xu, P., Zhou, X., Wang, L., Chen, J., Li, G., Wang, J. and Li, S. (2026) 'RoboAssist: Interactive Human-Humanoid Planning for Long-Horizon Surgical Assistance', Available at: https://omanscience.com/ar/articles/roboassist-interactive-human-humanoid-planning-for-long-horizon-surgical-assistance.
فانكوفر
Jia J, Zhou K, Wang J, Xu P, Zhou X, Wang L, et al. RoboAssist: Interactive Human-Humanoid Planning for Long-Horizon Surgical Assistance. https://omanscience.com/ar/articles/roboassist-interactive-human-humanoid-planning-for-long-horizon-surgical-assistance
IEEE
J. Jia, K. Zhou, J. Wang, P. Xu, X. Zhou, L. Wang, J. Chen, G. Li, J. Wang, and S. Li, "RoboAssist: Interactive Human-Humanoid Planning for Long-Horizon Surgical Assistance," https://omanscience.com/ar/articles/roboassist-interactive-human-humanoid-planning-for-long-horizon-surgical-assistance.