Hierarchical Task Planning for Human-Robot Collaborative Assembly

We propose E-UHTP, an enhanced task planner for collaborative assembly in communication-free human-robot environments. E-UHTP extends User-aware Hierarchical Task Planning (UHTP) by supporting joint actions, failure recovery, and online replanning. We introduce an automatic Hierarchical Task Network (HTN) generation method from annotated video demonstrations. Experimental simulations in multiple assembly scenarios demonstrate the improved performance, flexibility, and robustness of E-UHTP over baseline planners.