A Hierarchical Behavioral Dynamic Approach for Naturally Adaptive Human-Agent Pick-and-Place Interactions

Figure 3

Experimental setup and testing environment. (left) Birds-eye view illustration of the task space layout. The large black rectangle represents the tabletop, with the object appearance region on the left and the five colored object drop-off locations on the right: M=magenta, Y=yellow, G=green, B=blue, R=red. The circle on the left in the middle of the appearance location region represents a disk object. (right) Participants performed the task in a virtual environment, with a 1:1 mapping between the real and virtual tabletops.