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Yes, there is one scene in The Empire Strikes Back that contains one of the most famous and critically praised pieces of improvisation in cinema history, along with other unscripted contributions by the actors.
The main scene featuring an improvised line is:
Line: "I know."
Actor: Harrison Ford (Han Solo)
This iconic exchange occurs just before Han Solo is lowered into the carbon-freezing chamber on Bespin.
This line was a deliberate choice by Ford and the director to maintain Han's characteristic bravado and cockiness even in a dire, vulnerable moment. Although some accounts frame it as a spontaneous, on-the-spot ad-lib during filming, others indicate it was a line Ford workshopped with Kershner right before the take. Regardless, the line was unscripted and conceived by Ford in the moment of rehearsal/filming, making it an actor's improvisation that replaced the written dialogue.
While "I know" is the primary example from The Empire Strikes Back, Harrison Ford was known for improving or changing dialogue, although other major ad-libs are often attributed to A New Hope.
The summary missed a significant improvisation: Yoda's chaotic behavior in his first scene (fighting R2-D2, stealing the lamp) was developed on set by Frank Oz and Irvin Kershner to make the puppet feel alive.
The summary attributes dialogue changes solely to Ford's improv, failing to mention that Carrie Fisher was an uncredited script doctor who rewrote many lines (including 'Never tell me the odds' and the 'Lando system' line).
The most famous improvised scene in The Empire Strikes Back is Han Solo's response "I know" to Princess Leia's "I love you." While often mythologized as a spontaneous ad-lib, it was actually workshopped by Harrison Ford and director Irvin Kershner on set just before filming to replace the scripted line "I love you, too." Another significant improvisation involves Yoda's introductory scene; his chaotic behavior, such as fighting R2-D2 for the lamp, was largely developed on set by Kershner and puppeteer Frank Oz to give the character life. Notably, the line "Never tell me the odds," often attributed to Ford's improvisation, was likely written by Carrie Fisher, who served as an uncredited script doctor and added the line in her script notes.