@misc {pub-5662,
	title = {Predictive and Robust Robot Assistance for Sequential Manipulation},
	author = {Theodoros	 Stouraitis AND Michael Gienger},
	year = {2024},
	month = {May},
	abstract = {This extended abstract presents a novel concept to
support physically impaired humans in daily object manipulation
tasks with a robot. Given a user{\textquoteright}s manipulation sequence, we pro-
pose a predictive model that uniquely casts the user{\textquoteright}s sequential
behavior as well as a robot support intervention into a hierarchi-
cal multi-objective optimization problem. A major contribution
is the prediction formulation, which allows to consider several
different future paths concurrently. The second contribution is
the encoding of a general notion of constancy constraints, which
allows to consider dependencies between consecutive or far apart
keyframes (in time or space) of a sequential task. We perform
numerical studies, simulations and robot experiments to analyse
and evaluate the proposed method in several table top tasks where
a robot supports impaired users by predicting their posture and
proactively re-arranging objects.},
	publisher = {None},
	url = {https://sites.google.com/view/icra2024-workshop-human-phri},
	howpublished = {online},
	booktitle = {Innovations and Applications of Human Modelling in Physical Human-Robot Interaction (ICRA 2024 Workshop)},
	city = {Yokohama}
}