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We introduce the User-aware Hierarchical Task Planning (UHTP) framework, a communication-free human-robot collaborative approach for adaptive execution of multi-step tasks that moves beyond the leader-follower paradigm. Specifically, our approach enables the robot to observe the human, perform actions that support the human\u2019s decisions, and actively select actions that maximize the expected efficiency of the collaborative task. In turn, the human chooses actions based on their observation of the task and the robot, without being dictated by a scheduler or the robot. We evaluate UHTP both in simulation and in a human subjects experiment of a collaborative drill assembly task. Our results show that UHTP achieves more efficient task plans and shorter task completion times than non-adaptive baselines across a wide range of human behaviors, that interacting with a UHTP-controlled robot reduces the human\u2019s cognitive workload, and that humans prefer to work with our adaptive robot over a fixed-policy alternative.<\/jats:p>","DOI":"10.1145\/3623387","type":"journal-article","created":{"date-parts":[[2023,9,22]],"date-time":"2023-09-22T12:06:10Z","timestamp":1695384370000},"page":"1-27","update-policy":"http:\/\/dx.doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["UHTP: A User-Aware Hierarchical Task Planning Framework for Communication-Free, Mutually-Adaptive Human-Robot Collaboration"],"prefix":"10.1145","volume":"13","author":[{"ORCID":"http:\/\/orcid.org\/0000-0002-5409-6891","authenticated-orcid":false,"given":"Kartik","family":"Ramachandruni","sequence":"first","affiliation":[{"name":"Georgia Institute of Technology, Atlanta, USA"}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-5418-3602","authenticated-orcid":false,"given":"Cassandra","family":"Kent","sequence":"additional","affiliation":[{"name":"Georgia Institute of Technology, Atlanta, USA"}]},{"ORCID":"http:\/\/orcid.org\/0000-0001-6320-0825","authenticated-orcid":false,"given":"Sonia","family":"Chernova","sequence":"additional","affiliation":[{"name":"Georgia Institute of Technology, Atlanta, USA"}]}],"member":"320","published-online":{"date-parts":[[2024,8,26]]},"reference":[{"key":"e_1_3_2_2_2","volume-title":"19th International Conference on Automated Planning and Scheduling (ICAPS\u201909)","author":"Alili Samir","year":"2009","unstructured":"Samir Alili, Matthieu Warnier, Muhammad Ali, and Rachid Alami. 2009. 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