A Framework and Algorithm for Human-Robot Collaboration Based on Multimodal Reinforcement Learning

Table 2

Intentions and numbers.

Intentions	Numbers
The robot stops immediately	1
Robot takes a block and gives it to the user	2
Robot actively picks up a block	3
The robot takes the blocks from the user	4
Putting aside the blocks that the robot clips up	5
Put the blocks that the robot clips up onto the Jenga tower	6