Abstract
Human factors research has long focused on optimizing environments, tools, and systems to account for human performance. Yet, as humanoid robots begin to share our workplaces, homes, and public spaces, the design challenge expands. We must now consider not only factors for humans but also factors for humanoids, since both will coexist and interact within the same environments. Unlike conventional machines, humanoids introduce expectations of human-like behavior, communication, and social presence, which reshape usability, trust, and safety considerations. In this article, we introduce the concept of humanoid factors as a framework structured around four pillars - physical, cognitive, social, and ethical - that shape the development of humanoids to help them effectively coexist and collaborate with humans. This framework characterizes the overlap and divergence between human capabilities and those of general-purpose humanoids powered by AI foundation models. To demonstrate our framework's practical utility, we then apply the framework to evaluate a real-world humanoid control algorithm, illustrating how conventional task completion metrics in robotics overlook key human cognitive and interaction principles. We thus position humanoid factors as a foundational framework for designing, evaluating, and governing sustained human-humanoid coexistence.
Abstract (translated)
人因研究长期以来一直致力于优化环境、工具和系统，以适应人类的表现。然而，随着类人机器人开始与我们共处工作场所、家庭和公共场所，设计挑战也随之扩大。现在我们必须不仅考虑人类因素，还要考虑到类人的因素，因为两者将共同存在于相同的环境中并相互互动。与传统机器不同，类人机器人引入了类似人类的行为、沟通和社会存在感的期望，这重塑了可用性、信任以及安全方面的考量。 在本文中，我们介绍了“类人人因”这一概念作为框架，该框架围绕四大支柱——物理层面、认知层面、社会层面和伦理层面构建而成。这些支柱旨在塑造类人的开发，使其能够与人类有效共存并协作。这个框架描述了人类能力和由人工智能基础模型驱动的一般用途类人能力之间的重叠和差异。 为了展示我们框架的实际效用，我们将该框架应用于评估一个现实世界的类人机器人控制算法中，展示了传统机器人任务完成指标如何忽视关键的人类认知和互动原则。因此，我们把“类人人因”视为设计、评估以及治理人类与类人长久共存的基础框架。
URL
https://arxiv.org/abs/2602.10069
