首次系统分类双手自交接动作，揭示其协调机制。
A Taxonomy of Self-Handover
- 基于21人12小时烹饪视频，人工标注建立分类体系。
- 发现自交接是主动协调行为，双臂需提前调整。
- 可用视觉语言模型自动识别交接类型，适合机器人研究者。
双手自交接（self-handover）是一种常见但研究不足的双臂协同动作。尽管它在复杂任务中实现无缝过渡，但其执行策略仍不明确。本文通过对手12小时烹饪活动的21名参与者进行人工标注，提出首个系统的自交接分类体系。分析表明，自交接并非被动转移，而是双臂主动协调、具有前瞻性的动作。为进一步实现人类操作的自动化分析，我们还验证了使用先进视觉语言模型对自交接类型进行分类的可行性。这些发现为双臂协作提供了新视角，强调自交接在实现平滑任务切换中的关键作用，对自适应双臂机器人设计具有重要意义。
原文摘要 · Abstract (English)
Self-handover, transferring an object between one's own hands, is a common but understudied bimanual action. While it facilitates seamless transitions in complex tasks, the strategies underlying its execution remain largely unexplored. Here, we introduce the first systematic taxonomy of self-handover, derived from manual annotation of over 12 hours of cooking activity performed by 21 participants. Our analysis reveals that self-handover is not merely a passive transition, but a highly coordinated action involving anticipatory adjustments by both hands. As a step toward automated analysis of human manipulation, we further demonstrate the feasibility of classifying self-handover types using a state-of-the-art vision-language model. These findings offer fresh insights into bimanual coordination, underscoring the role of self-handover in enabling smooth task transitions-an ability essential for adaptive dual-arm robotics.
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