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In The Empire Strikes Back (1980), several scenes and lines were either improvised on the spot or heavily workshopped by the actors and director Irvin Kershner to feel more natural.
The most significant and well-documented instances include:
This is the most famous improvised line in film history. In the script, when Princess Leia says "I love you," Han Solo was originally supposed to reply with a standard "I love you, too" (or in some earlier drafts, "Just remember that, 'cause I'll be back").
While often credited as an actress, Carrie Fisher was a prolific "script doctor." On the set of Empire, she and Harrison Ford frequently rewrote their banter to make it sharper.
The chemistry and bickering between Han and Leia throughout the film were often the result of on-set workshopping.
While not in the final film, there were famous unscripted moments on the Dagobah set involving Yoda.
While not technically "improvisation" in the creative sense, a unique form of "forced improvisation" occurred during the Vader/Luke duel.
Frank Oz reportedly improvised the moment where Yoda repeatedly hits R2-D2 with his cane in the hut scene, which Lucas loved and kept.
Harrison Ford is often credited with improvising this line after cutting open the Tauntaun, though some sources debate if it was a script polish or pure improv.
Yes, The Empire Strikes Back features several famous improvised moments. The most iconic is Harrison Ford's line "I know" in response to Princess Leia's "I love you," which was workshopped on set by Ford and director Irvin Kershner to replace the scripted "I love you, too." Carrie Fisher also contributed significantly as an uncredited script doctor, rewriting scenes to sharpen the banter, including the specific line "Lando system?" which she hand-wrote into her script. Additionally, Frank Oz improvised a behind-the-scenes moment where Miss Piggy appeared on the Dagobah set to cheer up Mark Hamill. Other potential improvisations include Yoda hitting R2-D2 with his cane and Han Solo's line "I thought they smelled bad on the outside."