  Human-robot collaboration (HRC) in a shared workspace has become a common
pattern in real-world robot applications and has garnered significant research
interest. However, most existing studies for human-in-the-loop (HITL)
collaboration with robots in a shared workspace evaluate in either simplified
game environments or physical platforms, falling short in limited realistic
significance or limited scalability. To support future studies, we build an
embodied framework named HumanTHOR, which enables humans to act in the
simulation environment through VR devices to support HITL collaborations in a
shared workspace. To validate our system, we build a benchmark of everyday
tasks and conduct a preliminary user study with two baseline algorithms. The
results show that the robot can effectively assist humans in collaboration,
demonstrating the significance of HRC. The comparison among different levels of
baselines affirms that our system can adequately evaluate robot capabilities
and serve as a benchmark for different robot algorithms. The experimental
results also indicate that there is still much room in the area and our system
can provide a preliminary foundation for future HRC research in a shared
workspace. More information about the simulation environment, experiment
videos, benchmark descriptions, and additional supplementary materials can be
found on the website: https://sites.google.com/view/humanthor/.
