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Robots are envisioned to work alongside humans in applications ranging fromin-home assistance to collaborative manufacturing. Research on human-robotcollaboration (HRC) has helped develop various aspects of social intelligencenecessary for robots to participate in effective, fluid collaborations withhumans. However, HRC research has focused on dyadic, structured, and minimalcollaborations between humans and robots that may not fully represent the largescale and emergent nature of more complex, unstructured collaborativeactivities. Thus, there remains a need for shared testbeds, datasets, andevaluation metrics that researchers can use to better model natural, ad-hochuman collaborative behaviors and develop robot capabilities intended for largescale emergent collaborations. We present one such shared resource - FACT(Full-body Ad-hoc Collaboration Testbed), an openly accessible testbed forresearchers to obtain an expansive view of the individual and team-basedbehaviors involved in complex, co-located teamwork. We detail observations froma preliminary exploration with teams of various sizes and discuss potentialresearch questions that may be investigated using the testbed. Our goal is forFACT to be an initial resource that supports a more holistic investigation ofhuman-robot collaboration.

FACT: A Full-body Ad-hoc Collaboration Testbed for Modeling Complex Teamwork