A Confidence-Aware Multimodal Fusion Framework for Industrial Human-Robot Collaboration

A Confidence-Aware Multimodal Fusion Framework for Industrial Human-Robot Collaboration

|Authors: Xinyu Liu, Qiqi Dong, Boya Jia, Yi Zhang, Binbin Lian

|Venue: arXiv preprint | Year: 2026

|arXiv: 2609.10339v1

Abstract

A confidence-aware multimodal fusion framework (CAMF) is proposed to realize reliable human intention prediction for industrial human-robot collaboration. This framework fuses four heterogeneous modalities including object 6D pose, gaze, skeletal motion and IMU-based hand motion. It embeds a confidence-trend-driven dynamic fusion mechanism into BiLSTM to adaptively balance bidirectional temporal features according to real-time modality reliability. A confidence-guided balanced learning strategy combined with a confidence freezing mechanism is further adopted to adjust network gradients dynamically, suppress noise from low-quality modalities and mitigate cross-modal learning bias. A physical platform based on the UR3 collaborative robot is built for experimental validation. Comparative results show that the proposed method reaches an intention recognition accuracy of 91.86% and outperforms existing multimodal fusion approaches in overall performance and stability. It also maintains satisfactory accuracy under low light and partial occlusion interference. In practical assembly tasks, the framework enables proactive and stable human-robot cooperation with strong environmental adaptability.

Key Contributions

• A confidence-aware multimodal fusion framework (CAMF) is proposed to realize reliable human inten…
• This framework fuses four heterogeneous modalities including object 6D pose, gaze, skeletal motio…
• It embeds a confidence-trend-driven dynamic fusion mechanism into BiLSTM to adaptively balance bi…
• A confidence-guided balanced learning strategy combined with a confidence freezing mechanism is f…
• A physical platform based on the UR3 collaborative robot is built for experimental validation

Topics

• human-robot-interaction

Code & Data

No code repository linked in paper metadata.

BibTeX

@article{Liu2026_260910339v1,
  title     = {A Confidence-Aware Multimodal Fusion Framework for Industrial Human-Robot Collaboration},
  author    = {Xinyu Liu and Qiqi Dong and Boya Jia and Yi Zhang and Binbin Lian},
  year      = {2026},
  eprint    = {2609.10339v1},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url       = {https://arxiv.org/abs/2609.10339v1}
}