This is the official implementation for the NeurIPS 2025 paper. For more information, please check the project webpage.

In this work, we introduce COOPERA, a framework for studying continual, open-ended human-robot collaboration. COOPERA includes (a) simulated humans driven by psychological traits and long-term intentions, (b) continuous human feedback, and (c) a benchmark and approach to personalize the robot's collaborative actions.

Continual human-robot collaboration for open-ended tasks over multiple days.

COOPERA: continual, open-ended human-robot collaboration framework.

See SETUP.md for instructions on setting up the conda environment.

See DOWNLOAD.md for downloading required Habitat datasets.

See HUMAN.md for simulating humans driven by psychological traits and long-term intentions. This step is a prerequisite for running the COOPERA benchmark. You may also stop here if you are only interested in human simulation.

See BENCHMARK.md for running the COOPERA benchmark.

[Coming Soon] You may want to generate videos to visualize human–robot collaboration. We already defined skill primitives in /path/to/coopera_code/coopera_main/skill_utils.py. Available primitives include:

# Human skills
walk_to
pick_up_human
move_hand_and_place
customized_humanoid_motion
execute_humanoid_1
execute_humanoid_2

# Robot skills
walk_to_robot
pick_up_robot
place_robot

You can adjust rendering parameters in /path/to/coopera_code/habitat-lab/habitat/config/default_structured_configs.py.

If you run into any issues, please open a new GitHub issue.

@inproceedings{ma2025coopera,
  title     = {COOPERA: Continual Open-Ended Human-Robot Assistance},
  author    = {Ma, Chenyang and Lu, Kai and Desai, Ruta and Puig, Xavier and Markham, Andrew and Trigoni, Niki},
  booktitle = {Proceedings of the Conference on Neural Information Processing Systems (NeurIPS)},
  year      = {2025},
}

We adapted some code and resources from other repos in implementation. Please check these useful repos.

https://github.com/facebookresearch/habitat-lab
https://github.com/facebookresearch/habitat-sim
https://github.com/IDEA-Research/Motion-X
https://github.com/google-research-datasets/Synthetic-Persona-Chat