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We study human-robot handovers in a naturalistic collaboration scenario,where a mobile manipulator robot assists a person during a crafting session byproviding and retrieving objects used for wooden piece assembly (functionalactivities) and painting (creative activities). We collect quantitative andqualitative data from 20 participants in a Wizard-of-Oz study, generating theFunctional And Creative Tasks Human-Robot Collaboration dataset (the FACT HRCdataset), available to the research community. This work illustrates how socialcues and task context inform the temporal-spatial coordination in human-robothandovers, and how human-robot collaboration is shaped by and in turninfluences people's functional and creative activities.

Crafting with a Robot Assistant: Use Social Cues to Inform Adaptive Handovers in Human-Robot Collaboration