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arXiv · 2602.15963

The human intention. A taxonomy attempt and its applications to robotics

J. E. Domínguez-Vidal·Alberto Sanfeliu
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Abstract

Despite a surge in robotics research dedicated to inferring and understanding human intent, a universally accepted definition remains elusive since existing works often equate human intention with specific task-related goals. This article seeks to address this gap by examining the multifaceted nature of intention. Drawing on insights from psychology, it attempts to consolidate a definition of intention into a comprehensible framework for a broader audience. The article classifies different types of intention based on psychological and communication studies, offering guidance to researchers shifting from pure technical enhancements to a more human-centric perspective in robotics. It then demonstrates how various robotics studies can be aligned with these intention categories. Finally, through in-depth analyses of collaborative search and object transport use cases, the article underscores the significance of considering the diverse facets of human intention.

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J. E. Domínguez-Vidal, Alberto Sanfeliu. 2026-02-17. The human intention. A taxonomy attempt and its applications to robotics. https://doi.org/10.1007/s12369-025-01304-8

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