SymBridge: A Human-in-the-Loop Cyber-Physical Interactive System for Adaptive Human-Robot Symbiosis

Haoran Chen1*, Yiteng Xu2*, Yiming Ren2, Yaoqin Ye2, Xinran Li1, Ning Ding1, Yuxuan Wu1, Yaoze Liu1, Peishan Cong2, Ziyi Wang2, Bushi Liu2, Yuhan Chen2, Zhiyang Dou3, Xiaokun Leng4, Manyi Li1†, Yuexin Ma2†, Changhe Tu1
† Equal Advising, * Equal Contribution

1 Shandong University, 2 ShanghaiTech University, 3 University of Hong Kong, 4 LEJU(Shenzhen) Robotics Co., Ltd

📄 Paper (PDF) | arXiv | Code | BibTeX
Teaser figure

Abstract

The development of intelligent robots seeks to seamlessly integrate them into the human world, providing assistance and companionship in daily life and work, with the ultimate goal of achieving human-robot symbiosis. This requires robots with intelligent interaction abilities to work naturally and effectively with humans. However, current robotic simulators fail to support real human participation, limiting their ability to provide authentic interaction experiences and gather valuable human feedback essential for enhancing robotic capabilities. In this paper, we introduce SymBridge, the first human-in-the-loop cyber-physical interactive system designed to enable the safe and efficient development, evaluation, and optimization of human-robot interaction methods. Specifically, we employ augmented reality technology to enable real humans to interact with virtual robots in physical environments, creating an authentic interactive experience. Building on this, we propose a novel robotic interaction model that generates responsive, precise robot actions in real time through continuous human behavior observation. The model incorporates multi-resolution human motion features and environmental affordances, ensuring contextually adaptive robotic responses. Additionally, SymBridge enables continuous robot learning by collecting human feedback and dynamically adapting the robotic interaction model. By leveraging a carefully designed system architecture and modules, SymBridge builds a bridge between humans and robots, as well as between cyber and physical spaces, providing a natural and realistic online interaction experience while facilitating the continuous evolution of robotic intelligence. Extensive experiments, user studies, and real robot testing demonstrate the system's promising performance and highlight its potential to significantly advance research on human-robot symbiosis.

Interactive Model

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BibTeX

@inproceedings{your2025paper,
  title     = {Paper Title},
  author    = {You and Coauthors},
  booktitle = {Conference},
  year      = {2025}
}

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