The Internet of Things (IoT) promises to integrate digital and physical worlds by connecting artifacts and building networks of them. Traditionally, IoT devices work on their own, due to incompatible techniques or protocols. The Web of Things (WoT)
[Online]. Available: https://www.w3.org/TR/wot-thing-description/.
,[Online]. Available: https://www.w3.org/TR/wot-architecture/.
provides IoT applications with standardized descriptions of actions, events, and properties of things to extend Web protocols, thereby supporting broader interactions between smart objects. With plenty of commercially available IoT products, recent research and industry have successfully instrumented connected things in our daily lives. However, these connected things still cannot work fully autonomously but require human intervention. The existing research primarily focuses on recommending the next actions to take, yet cannot control devices directly to execute those actions. Inspired by multiagent systems, Internet of Robotic Things (IoRT) enables robots to gain awareness of the environment and adapt their actions. However, the limited related research focuses on specialized scenarios, such as workplaces and smart cities; it still faces challenges for conducting physical interactions for daily tasks. There remains a significant gap to bring robotics into home applications to support streamlined physical human–machine interactions.