Core Insights - The article emphasizes the need for a benchmark that simulates physical interactions and diverse collaboration scenarios to enhance the adaptability and generalization capabilities of intelligent agents in human-robot collaboration [3][6]. Group 1: Key Innovations - Introduction of the Moving Out benchmark, a physically-grounded human-robot collaboration environment that simulates various collaborative modes influenced by physical properties and constraints [8]. - Design of two evaluation tasks aimed at assessing the adaptability of intelligent agents to human behavioral diversity and their ability to generalize to unknown physical properties [10][11]. - Proposal of the BASS method, which enhances collaboration performance in physical environments through behavior augmentation, simulation, and action selection [13][14]. Group 2: Experimental Results - The BASS method demonstrated superior performance in both AI-AI and human-robot collaboration compared to baseline methods such as MLP, GRU, and Diffusion Policy [15][18]. - Evaluation metrics included Task Completion Rate (TCR), Normalized Final Distance (NFD), Waiting Time (WT), and Action Consistency (AC), with BASS showing significant improvements in these areas [16][17]. - User studies indicated that BASS significantly outperformed Diffusion Policy in terms of usefulness and physical understanding, reducing issues like object handover failures and delays in assistance [18]. Group 3: Related Work - Existing human-AI collaboration research has limitations, and Moving Out addresses these by providing a physically-grounded environment, diverse collaboration modes, and continuous state-action spaces [19][21]. - Previous works often focused on discrete environments with limited physical attributes or lacked independent task division, highlighting the need for more comprehensive evaluation methods that consider physical interactions [21].