Human-Robot Interaction in GenAI Architectures via the Agent-Client Protocol

• URL: http://arxiv.org/abs/2607.14919v1
• Date: Thu, 16 Jul 2026 12:38:48 GMT
• Title: Human-Robot Interaction in GenAI Architectures via the Agent-Client Protocol
• Abstract summary: This paper proposes the adoption of the Agent-Client Protocol (ACP) as a unified communication contract for the Human-Robot Interaction layer in agent-based robotic systems.<n>ACP is a communication standard originally introduced for coding agents in software engineering.<n>We experimentally evaluate the proposed architecture on a physical mobile robot, demonstrating interoperability across three heterogeneous user interfaces.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Recent advances in Generative Artificial Intelligence (GenAI), particularly Large Language Models (LLMs), are driving robotic architectures toward agent-based high-level orchestration, in which natural-language instructions can be translated into context-aware action sequences. While the integration of these agents and robotic capabilities is increasingly converging toward standardization through the Model Context Protocol (MCP), the upper Human-Robot Interaction (HRI) layer remains fragmented by proprietary, ad hoc interfaces that hinder real-time human-in-the-loop collaboration. To address this fragmentation, this paper proposes the adoption of the Agent-Client Protocol (ACP) -- a communication standard originally introduced for coding agents in software engineering -- as a unified communication contract for the HRI layer in agent-based robotic systems. By combining ACP at the interface-agent link and MCP at the agent-execution link, we formulate a fully decoupled three-layer architecture that separates human interaction, deliberative orchestration, and physical execution. This topology removes rigid architectural dependencies, enabling heterogeneous user interfaces to connect to the same robotic system and allowing the underlying robotic platform to be replaced without requiring client-specific integration changes. Moreover, it provides native support for collaborative HRI capabilities such as real-time observability, explicit human authorization, and immediate task interruption. We experimentally evaluate the proposed architecture on a physical mobile robot, demonstrating interoperability across three heterogeneous user interfaces and validating real-time human-in-the-loop workflows with negligible latency overhead.

Related papers

• A Decoupled Human-in-the-Loop System for Controlled Autonomy in Agentic Workflows [0.0]
  Human-in-the-Loop (HITL) mechanisms are typically embedded within application logic.<n>This paper presents a decoupled HITL system architecture that treats human oversight as an independent system component.
  arXiv  Detail & Related papers  (2026-04-24T22:28:08Z)
• SynAgent: Generalizable Cooperative Humanoid Manipulation via Solo-to-Cooperative Agent Synergy [59.86199649493784]
  Controllable cooperative humanoid manipulation is a fundamental yet challenging problem for embodied intelligence.<n>We present SynAgent, a framework that enables scalable and physically plausible cooperative manipulation.<n>In experiments, SynAgent significantly outperforms existing baselines in both cooperative imitation and trajectory-conditioned control.
  arXiv  Detail & Related papers  (2026-04-20T17:46:20Z)
• Beyond Context Sharing: A Unified Agent Communication Protocol (ACP) for Secure, Federated, and Autonomous Agent-to-Agent (A2A) Orchestration [0.0]
  This paper introduces the Agent Communication Protocol (ACP)<n>ACP provides a standardized framework for Agent-to-Agent interaction.<n>ACP reduces inter-agent communication latency by % while maintaining a zero-trust security posture.
  arXiv  Detail & Related papers  (2026-02-11T17:02:12Z)
• InterAgent: Physics-based Multi-agent Command Execution via Diffusion on Interaction Graphs [72.5651722107621]
  InterAgent is an end-to-end framework for text-driven physics-based multi-agent humanoid control.<n>We introduce an autoregressive diffusion transformer equipped with multi-stream blocks, which decouples proprioception, exteroception, and action to cross-modal interference.<n>We also propose a novel interaction graph exteroception representation that explicitly captures fine-grained joint-to-joint spatial dependencies.
  arXiv  Detail & Related papers  (2025-12-08T10:46:01Z)
• Agentic Web: Weaving the Next Web with AI Agents [109.13815627467514]
  The emergence of AI agents powered by large language models (LLMs) marks a pivotal shift toward the Agentic Web.<n>In this paradigm, agents interact directly with one another to plan, coordinate, and execute complex tasks on behalf of users.<n>We present a structured framework for understanding and building the Agentic Web.
  arXiv  Detail & Related papers  (2025-07-28T17:58:12Z)
• Agent Network Protocol Technical White Paper [8.617166262498008]
  Agent Network Protocol (ANP) proposes a new generation of communication protocols for the Agentic Web.<n>ANP adheres to AI-native design, maintains compatibility with existing internet protocols, adopts a modular composable architecture, and enables rapid deployment based on existing infrastructure.
  arXiv  Detail & Related papers  (2025-07-18T05:04:43Z)
• Interaction, Process, Infrastructure: A Unified Architecture for Human-Agent Collaboration [16.81148151905355]
  We propose a layered framework for human-agent systems that integrates interaction, process, and infrastructure.<n>This model clarifies limitations of current tools, unifies emerging system design approaches, and reveals new opportunities for researchers and AI system builders.
  arXiv  Detail & Related papers  (2025-06-13T12:34:15Z)
• Robot Context Protocol (RCP): A Runtime-Agnostic Interface for Agent-Aware Robot Control [0.0]
  The Robot Context Protocol (RCP) is designed to simplify the complexity of robotic systems and enable seamless interaction between robots, users, and autonomous agents.<n>RCP provides a unified and semantically meaningful interface that decouples client-facing operations from backend implementations.<n>RCP enables intelligent, resilient, and safe robotic operations in complex, multi-agent ecosystems.
  arXiv  Detail & Related papers  (2025-06-13T10:24:44Z)
• Internet of Agents: Fundamentals, Applications, and Challenges [68.9543153075464]
  We introduce the Internet of Agents (IoA) as a foundational framework that enables seamless interconnection, dynamic discovery, and collaborative orchestration among heterogeneous agents at scale.<n>We analyze the key operational enablers of IoA, including capability notification and discovery, adaptive communication protocols, dynamic task matching, consensus and conflict-resolution mechanisms, and incentive models.
  arXiv  Detail & Related papers  (2025-05-12T02:04:37Z)
• HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams [2.6627293764668902]
  This paper describes a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT)<n>HarMONIC incorporates metacognition, meaningful natural language communication, and explainability capabilities required for developing mutual trust in HRT.
  arXiv  Detail & Related papers  (2024-09-26T16:48:21Z)
• Internet of Agents: Weaving a Web of Heterogeneous Agents for Collaborative Intelligence [79.5316642687565]
  Existing multi-agent frameworks often struggle with integrating diverse capable third-party agents. We propose the Internet of Agents (IoA), a novel framework that addresses these limitations. IoA introduces an agent integration protocol, an instant-messaging-like architecture design, and dynamic mechanisms for agent teaming and conversation flow control.
  arXiv  Detail & Related papers  (2024-07-09T17:33:24Z)
• A ROS Architecture for Personalised HRI with a Bartender Social Robot [61.843727637976045]
  BRILLO project has the overall goal of creating an autonomous robotic bartender that can interact with customers while accomplishing its bartending tasks. We present the developed three-layers ROS architecture integrating a perception layer managing the processing of different social signals, a decision-making layer for handling multi-party interactions, and an execution layer controlling the behaviour of a complex robot composed of arms and a face.
  arXiv  Detail & Related papers  (2022-03-13T11:33:06Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.