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To handle these rich but noisy signals, we design a hierarchical policy in which a high-level policy infers the human's intent and produces a sequence of subtasks, where each subtask is rep","title":"Hierarchical Policies from Verbal and Egocentric Human Signals for Natural Human-Robot Interaction","url":"https://arxiv.org/abs/2606.10276","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.10276v1 Announce Type: cross \nAbstract: For natural human-robot interaction, a robot must understand human intent expressed not only through language but also through nonverbal signals such as gestures and gaze. However, current robot policies rely on language instructions as the sole interface for conveying intent, leaving nonverbal signals unused and placing the full burden of communication. 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