The Technical University of Munich (TUM) and Deutsches Zentrum für Luft- und Raumfahrt (DLR) are pleased to anounce the 16th International Workshop on Human-Friendly Robotics (HFR 2023). The HFR aims to shed light on current and envisioned AI and robotic solutions in the context of human-robot interaction and human-centric applications both in home and service scenarios as well as for industrial tasks. We aim to bring together a diverse group of researchers, experts, and industrial partners who are working on closing the gap between robots and humans in a safe and meaningful way, and to promote novel applications in human-centric environments and with/alongside humans. Furthermore, the workshop will also focus on fostering collaboration and exchange of ideas among a diverse set of researchers, and the direct applicability of existing and underdevelopment solutions in the context of human-robot interaction, coexistence, and collaboration.