{"id":"https://openalex.org/W7111276386","doi":"https://doi.org/10.48550/arxiv.2512.07765","title":"Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next","display_name":"Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next","publication_year":2025,"publication_date":"2025-12-08","ids":{"openalex":"https://openalex.org/W7111276386","doi":"https://doi.org/10.48550/arxiv.2512.07765"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2512.07765","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.07765","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2512.07765","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Cardona, Gustavo A.","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cardona, Gustavo A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Kumbhar, Shubham S.","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kumbhar, Shubham S.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Artemiadis, Panagiotis","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Artemiadis, Panagiotis","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.42750000953674316,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.42750000953674316,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.20170000195503235,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.0925000011920929,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4803999960422516},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4803999960422516},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.47780001163482666},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4587000012397766},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.4480000138282776},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.40860000252723694},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4002000093460083},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.38029998540878296}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5989999771118164},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.545199990272522},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.5005000233650208},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4803999960422516},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4803999960422516},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.47780001163482666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4587000012397766},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.4480000138282776},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4002000093460083},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.38029998540878296},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34389999508857727},{"id":"https://openalex.org/C2778464652","wikidata":"https://www.wikidata.org/wiki/Q309849","display_name":"Open research","level":2,"score":0.32010000944137573},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.29750001430511475},{"id":"https://openalex.org/C539667460","wikidata":"https://www.wikidata.org/wiki/Q2414942","display_name":"Management science","level":1,"score":0.2687000036239624},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C66024118","wikidata":"https://www.wikidata.org/wiki/Q1122506","display_name":"Computational model","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26179999113082886},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C78780964","wikidata":"https://www.wikidata.org/wiki/Q7233193","display_name":"Position paper","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C58642233","wikidata":"https://www.wikidata.org/wiki/Q8269924","display_name":"Taxonomy (biology)","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C2777877512","wikidata":"https://www.wikidata.org/wiki/Q1116097","display_name":"Common ground","level":2,"score":0.25519999861717224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2512.07765","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.07765","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2512.07765","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.07765","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.5259398221969604}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Physical":[0],"Human-Humanoid":[1],"Interaction":[2],"(pHHI)":[3],"is":[4,214],"a":[5,159,227],"rapidly":[6],"advancing":[7],"field":[8],"with":[9,243],"significant":[10,103],"implications":[11],"for":[12,75,96,119,147,209,229],"deploying":[13],"robots":[14],"in":[15,30,98,197,246],"unstructured,":[16],"human-centric":[17],"environments.":[18],"In":[19],"this":[20,198],"review,":[21],"we":[22,53,157,200],"examine":[23],"the":[24,28,73,138,182,202],"current":[25,62,139],"state":[26],"of":[27,80,162,184],"art":[29],"pHHI":[31],"through":[32],"three":[33,203],"core":[34,204],"pillars:":[35],"(i)":[36],"humanoid":[37,235],"modeling":[38,92],"and":[39,45,60,68,91,175,180,192,222,241],"control,":[40],"(ii)":[41],"human":[42,48,83,99,244],"intent":[43,86],"estimation,":[44],"(iii)":[46],"computational":[47],"models.":[49],"For":[50,194],"each":[51,109,195],"pillar,":[52],"survey":[54],"representative":[55],"approaches,":[56],"identify":[57],"open":[58],"challenges,":[59],"analyze":[61],"limitations":[63],"that":[64,94,150,206,232],"hinder":[65],"robust,":[66,220],"scalable,":[67],"adaptive":[69],"interaction.":[70],"These":[71],"include":[72],"need":[74],"whole-body":[76],"control":[77],"strategies":[78],"capable":[79],"handling":[81],"uncertain":[82],"dynamics,":[84],"real-time":[85],"inference":[87],"under":[88],"limited":[89],"sensing,":[90],"techniques":[93],"account":[95],"variability":[97],"physical":[100,173,224],"states.":[101],"Although":[102],"progress":[104],"has":[105],"been":[106],"made":[107],"within":[108],"domain,":[110],"integration":[111],"across":[112,122],"pillars":[113,205],"remains":[114],"limited.":[115],"We":[116],"propose":[117,144],"pathways":[118],"unifying":[120],"methods":[121],"these":[123,154],"areas":[124],"to":[125,136,143,152,190,215,218,237],"enable":[126],"cohesive":[127],"interaction":[128,163],"frameworks.":[129],"This":[130],"structure":[131],"enables":[132],"us":[133],"not":[134],"only":[135],"map":[137],"landscape":[140],"but":[141],"also":[142],"concrete":[145],"directions":[146],"future":[148,230],"research":[149,231],"aim":[151],"bridge":[153],"domains.":[155],"Additionally,":[156],"introduce":[158],"unified":[160],"taxonomy":[161],"types":[164],"based":[165],"on":[166,181],"modality,":[167],"distinguishing":[168],"between":[169],"direct":[170],"interactions":[171,177],"(e.g.,":[172,178],"contact)":[174],"indirect":[176],"object-mediated),":[179],"level":[183],"robot":[185],"engagement,":[186],"ranging":[187],"from":[188],"assistance":[189],"cooperation":[191],"collaboration.":[193],"category":[196],"taxonomy,":[199],"provide":[201],"highlight":[207],"opportunities":[208],"cross-pillar":[210],"unification.":[211],"Our":[212],"goal":[213],"suggest":[216],"avenues":[217],"advance":[219],"safe,":[221],"intuitive":[223],"interaction,":[225],"providing":[226],"roadmap":[228],"will":[233],"allow":[234],"systems":[236],"effectively":[238],"understand,":[239],"anticipate,":[240],"collaborate":[242],"partners":[245],"diverse":[247],"real-world":[248],"settings.":[249]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-12-10T00:00:00"}