Social Robotics: 14th International Conference, ICSR 2022, Florence, Italy, December 13–16, 2022, Proceedings, Part I

Preface
Organization
Contents – Part I
Contents – Part II
Social Robot Navigation and Interaction Capabilities (Voice, Tactile)
Socially-Aware Mobile Robot Trajectories for Face-to-Face Interactions
	1 Introduction
	2 Inverse Optimal Control ch1mombaur2010human
	3 Application to Human Approach
		3.1 Curriculum Inverse Optimal Control
		3.2 New Cost Function
	4 User Study
		4.1 Experimental Platform
		4.2 Experimental Protocol
	5 Results
	6 Conclusion
	References
Vehicle-To-Pedestrian Communication Feedback Module: A Study on Increasing Legibility, Public Acceptance and Trust
	1 Introduction
	2 Background
	3 Method
		3.1 Research Question
		3.2 Study Design
		3.3 Participants
	4 Results and Discussion
		4.1 Legibility, Public Acceptance, Trust, and Preference
		4.2 Specific Interaction Mode Options
		4.3 Discussion
	5 Limitations and Future Work
	References
Let's Run an Online Proxemics Study! But, How Do Results Compare to In-Person?
	1 Introduction
	2 Related Work
		2.1 Modalities in Interaction Studies
		2.2 Impact of Robot Height on Proxemics
	3 Experiment
		3.1 Materials
		3.2 Testbed
		3.3 Studies
		3.4 Participants
	4 Results
		4.1 Interaction Observations from Online Study
		4.2 In-person Study: sUAV Flying at Different Heights
		4.3 Online Studies
		4.4 User Comments
		4.5 Human-Human Distance
		4.6 PANAS
	5 Discussion
		5.1 Limitations
		5.2 Implications
		5.3 Recommendations
	6 Conclusion
	References
AR Point&Click: An Interface for Setting Robot Navigation Goals
	1 Introduction
	2 AR Point&Click Interface
		2.1 Robot Implementation
		2.2 Augmented Reality Interface
	3 User Study
		3.1 Baseline Interfaces
		3.2 User Study Procedure
		3.3 Metrics
		3.4 Hypotheses
	4 Quantitative Results
		4.1 Subjective Metrics
		4.2 Objective Metrics
	5 Qualitative Analysis
	6 Conclusions and Future Work
	References
Human-Aware Subgoal Generation in Crowded Indoor Environments
	1 Introduction
	2 Approach
		2.1 Local Cost Predictor
		2.2 Human-Aware Path Planner
		2.3 DRL Local Planner
	3 Experiments
		3.1 Setup
		3.2 DRL Local Planner Training
		3.3 Local Cost Predictor Training
		3.4 Results and Discussion
	4 Conclusion
	References
Speech-Driven Robot Face Action Generation with Deep Generative Model for Social Robots
	1 Introduction
	2 Related Work
		2.1 Generative Model
		2.2 Facial Image or Animation Generation
		2.3 Robot Facial Action Generation from Speech
	3 Methodology
		3.1 Problem Formulation
		3.2 Facial Action Synthesizer from Speech
		3.3 Facial Action Retargeting
	4 Dataset and Preprocessing
		4.1 Dataset
		4.2 Pre-processing
	5 Experiments and Results
		5.1 S2FGAN Training
		5.2 Results and Evaluation
	6 Conclusions and Future Work
	References
Design of a Social Media Voice Assistant for Older Adults
	1 Introduction
	2 Background
		2.1 Voice Assistants for Older Adults
		2.2 Social Media Technology and Older Adults
	3 User-Centered Design of “Toastbot”
		3.1 Design
		3.2 Software Implementation
		3.3 Hardware Implementation
	4 Usability Study
		4.1 Participants
		4.2 Procedure
		4.3 Analysis
	5 Findings
		5.1 Interaction Aesthetics
		5.2 Device Rationale/Interest
		5.3 Functionality
	6 Discussion
		6.1 Design Implications
		6.2 Implications for Theory
		6.3 Limitations and Future Work
	7 Conclusion
	References
Migratable AI: Personalizing Dialog Conversations with Migration Context
	1 Introduction
	2 Related Work
	3 Migration Dataset
		3.1 Task Based Scenario
		3.2 Migration Modes
		3.3 Migration Chat
		3.4 Analysis
	4 Models
		4.1 Sequence-to-Sequence
		4.2 Generative Profile Memory Network
		4.3 Information Retrieval (Starspace)
	5 Experiments
		5.1 Evaluation
		5.2 Results
	6 Conclusion
	References
Generating Natural Language Responses in Robot-Mediated Referential Communication Tasks to Simulate Theory of Mind
	1 Introduction
	2 The Robot-Mediated RCT Experiment and Data Collection
	3 Proposed Method
		3.1 Keyword Matching
		3.2 Representation Construction
	4 System Validation and Results
	5 Discussion and Conclusion
	References
Towards a Framework for Social Robot Co-speech Gesture Generation with Semantic Expression
	1 Introduction
	2 Related Work
	3 Gesture Generation Framework
		3.1 Encoder-Decoder Model
		3.2 SWAG Dataset
		3.3 Co-speech Gesture Synthesis Mechanism
	4 Experimental Design
		4.1 Videos
		4.2 Questionnaire and Participants
	5 Results
	6 Conclusions and Future Work
	References
Tactile Interaction with a Robot Leads to Increased Risk-Taking
	1 Introduction
	2 Methodology
		2.1 Experimental Design
		2.2 Participants
		2.3 Measurements
		2.4 Procedure
		2.5 Data Analysis
	3 Experimental Results and Analysis
		3.1 BART Performance
		3.2 Heart Rate Variability
		3.3 Correlation Analysis
	4 Discussion
	References
Affect Display Recognition Through Tactile and Visual Stimuli in a Social Robot
	1 Introducción
	2 Experimental Study
		2.1 Conditions and Stimuli Studied
		2.2 Experimental Setup
	3 Analysis of Results
	4 Integration in a Social Robot
		4.1 The Robotic Platform
		4.2 Design of an Application for Affect Display Recognition and Reaction
	5 Conclusions
	References
Social Robot Perception and Control Capabilities
Path-Constrained Admittance Control of Human-Robot Interaction for Upper Limb Rehabilitation
	1 Introduction
	2 Control Architecture
	3 Experimental Validation
		3.1 Results
	4 Conclusions
	References
Causal Discovery of Dynamic Models for Predicting Human Spatial Interactions
	1 Introduction
	2 Related Work
	3 Causal Discovery from Observational Data
		3.1 Human-Goal Scenario
		3.2 Human-Moving Obstacles Scenario
		3.3 Causal Prediction with PCMCI and GPR
	4 Experiments
		4.1 Data Processing
		4.2 Results
	5 Conclusion
	References
Learning User Habits to Enhance Robotic Daily-Living Assistance
	1 Introduction
	2 Learning to Plan Assistance
	3 The CASAS Dataset
		3.1 Data Processing and Preparation
	4 Network Structure and Training
		4.1 Model Evaluation
	5 Conclusions and Future Works
	References
Multi-modal Data Fusion for People Perception in the Social Robot Haru
	1 Introduction
	2 Related Work
	3 Robot Sensors
	4 Social Features Modules
		4.1 Body Parts Extraction and Fusion
		4.2 Face Features
		4.3 Hand Features
		4.4 Audio Features
	5 People Data Fusion Module
		5.1 Overall Fusion Pipeline
		5.2 Skeletons Pipeline
		5.3 Hands Pipeline
		5.4 Faces Pipeline
		5.5 Speech Pipeline
		5.6 High-Level Features
	6 Experimental Results
		6.1 People Data Fusion Filtering
		6.2 First Detection, Identification and Association Times
	7 Conclusions
	References
Adaptive Behavior Generation of Social Robots Based on User Behavior Recognition
	1 Introduction
	2 User Behavior Recognition
		2.1 LSTM-Based Model
		2.2 Training Data
	3 Robot Behavior Selection
	4 Robot Behavior Adaptation
		4.1 Key Pose of Robot Behavior
		4.2 Behavior Adaptation
	5 Experiments
		5.1 Experiment 1: User Pose Feature Extraction
		5.2 Experiment 2: User Behavior Recognition
		5.3 Experiment 3: Robot Behavior Generation
	6 Conclusions
	References
A Transformer-Based Approach for Choosing Actions in Social Robotics
	1 Introduction
	2 A Three-Tier Architecture for Fast and Slow Thinking in Social Robots
	3 The Dialogue-Based Sequencer
	4 A Reminder Example
	5 Conclusions
	References
Deep Reinforcement Learning for the Autonomous Adaptive Behavior of Social Robots
	1 Introduction
	2 Methods
	3 Environment
		3.1 Biologically Inspired Processes
		3.2 Learning Setup
		3.3 Experiment and Evaluation
	4 Results
	5 Conclusion
	References
Share with Me: A Study on a Social Robot Collecting Mental Health Data
	1 Introduction
	2 Related Work
	3 Methodology
		3.1 Sample
		3.2 Experimental Setup
		3.3 Study Protocols for Data Collection and Data Analysis
	4 Results
	5 Discussion and Future Directions
	References
Classification of Personal Data Used by Personalised Robot Companions Based on Concern of Exposure
	1 Introduction
	2 Methodology
		2.1 Participants Details
		2.2 Personal Data
		2.3 General Views on Personal Data Sensitivity
		2.4 Participants
		2.5 Statistical Methods
	3 Results
		3.1 Classification of Personal Data
		3.2 Influencing Factors on Personal Data Sensitivity
	4 Discussion
	5 Conclusion
	References
Investigating Non Verbal Interaction with Social Robots
Affective Human-Robot Interaction with Multimodal Explanations
	1 Introduction
	2 Related Works and Background
		2.1 Backpropagation-Based Explanation
		2.2 Perturbation-Based Explanation
		2.3 Emotion Recognition for HRI
	3 Methodology
		3.1 Visual-Based Explanation
		3.2 Verbal-Based Explaination
	4 Model Evaluation and Results
		4.1 KDEF Datasets and Pre-processing
		4.2 Multimodal Explanation
		4.3 Test on Pepper Robot
	5 Conclusion and Future Work
	References
When to Help? A Multimodal Architecture for Recognizing When a User Needs Help from a Social Robot
	1 Introduction
	2 Related Work
	3 Phase 1: Model Development
		3.1 Independent Models
		3.2 Multimodal Fusion
		3.3 Evaluation of Models
		3.4 Experiments and Results
	4 Phase 2: Real-Time Architecture
		4.1 Components of Architecture
		4.2 Data for Training and Evaluation
		4.3 Evaluation of Architecture
		4.4 Demonstration of Architecture
	5 Discussion
	6 Conclusion
	References
If You Are Careful, So Am I! How Robot Communicative Motions Can Influence Human Approach in a Joint Task
	1 Introduction
	2 Materials and Methods
		2.1 Generation of Robot Movements
		2.2 Setup, Sensors and Experiment Design
	3 Results
	4 Discussion
	5 Conclusion
	References
Exploring Non-verbal Strategies for Initiating an HRI
	1 Introduction
	2 Background and Related Work
	3 Methods
	4 Result
	5 Discussion
	6 Conclusion
	References
On the Emotional Transparency of a Non-humanoid Social Robot
	1 Introduction
	2 Background and Related Work
		2.1 Robots in Education
		2.2 Emotional Robotics
	3 The ClassMate Robot
		3.1 Facial Expressions
		3.2 Body Expressions
		3.3 The Sound
	4 User Study
		4.1 Methodology
		4.2 Participants
	5 Result
	6 Conclusion
	References
Transparent Interactive Reinforcement Learning Using Emotional Behaviours
	1 Introduction
	2 Related Work
	3 Methods
		3.1 Elicitation of Pointing Emotions
		3.2 Elicitation of Feedback Emotions
		3.3 The Teaching Scenario
		3.4 Learning Architecture
	4 User Study
		4.1 Procedure
		4.2 Measurement
	5 Preliminary Results
		5.1 System's Transparency
		5.2 Participants' Feedback
	6 Conclusions
	References
What Do I Look Like? A Conditional GAN Based Robot Facial Self-Awareness Approach
	1 Introduction
	2 Related Works
	3 Methodology
		3.1 Problem Definition
		3.2 Mapping Solution
		3.3 Evaluation
	4 Database Building and Experiment Process
		4.1 Database Building
		4.2 Experiment Process
	5 Results
	6 Discussions
	7 Conclusion
	References
Modeling and Evaluation of Human Motor Learning by Finger Manipulandum
	1 Introduction
	2 Materials and Methods
		2.1 Virtual Mirror Game and Pinching Manipulandum
		2.2 Models for Motor Learning
		2.3 Experimental Design
	3 Results and Discussion
		3.1 Free Energy Model
		3.2 Use of Long Short-Term Memories (LSTM) and Tree-Based Predictive Models
	4 Conclusion
	References
Motor Interference of Incongruent Hand Motions in HRI Depends on Movement Velocity
	1 Introduction
	2 Experimental Study Design
		2.1 Hypotheses
		2.2 Study Design and Measures
	3 Results
	4 Discussion
	5 Conclusions
	References
Foster Attention and Engagement Strategies in Social Robots
Attributing Intentionality to Artificial Agents: Exposure Versus Interactive Scenarios
	1 Introduction
		1.1 Aim of the Study
	2 Methods and Materials
		2.1 Participants
		2.2 Apparatus
		2.3 Procedure
		2.4 Task
		2.5 Subjective Measures
	3 Results
		3.1 InStance Test
		3.2 Godspeed Questionnaire
		3.3 Differences with Previous Exposure Study
	4 Discussion
	References
Does Embodiment and Interaction Affect the Adoption of the Intentional Stance Towards a Humanoid Robot?
	1 Introduction
	2 Common Methods and Procedures
		2.1 InStance Test (IST)
		2.2 Stimuli
		2.3 Procedure
		2.4 Analysis
	3 Experiment One: Physically Embodied Interaction
		3.1 Aim
		3.2 Participants and Procedure
		3.3 Results
	4 Experiment Two: Video of Human-Robot Interaction
		4.1 Aim
		4.2 Procedure and Participants
		4.3 Results
	5 Experiment Three: Video of Robot Without Interaction
		5.1 Aim
		5.2 Procedure and Participants
		5.3 Results
	6 Comparison Between Human-Like Experiments
	7 Control Conditions: Machine-Like Behaviour
	8 Discussion
	References
A Case for the Design of Attention and Gesture Systems for Social Robots
	1 Introduction
	2 System Architecture
		2.1 Attention System
		2.2 Gesture System
	3 Experimental Evaluation
		3.1 Experiment Design
		3.2 Evaluation Metrics
		3.3 Participants
	4 Results
		4.1 Attractive Behaviours Evaluation
		4.2 Attention System Evaluation in the Wild
	5 Conclusions
	References
Introducing Psychology Strategies to Increase Engagement on Social Robots
	1 Introduction
	2 Strategies to Enhance Engagement
		2.1 Variable and Unpredictability Rewards
		2.2 The Beginner's Luck
		2.3 Supernormal Stimuli
		2.4 Illusion of Control
		2.5 Accumulation of Temptations
		2.6 High Frequency of Actions: High Degree of Multimodal Interactivity
		2.7 Losses Masquerading as Gains
		2.8 Chaining Actions
		2.9 Reduced Friction: High Usability
		2.10 The Paradox of Choice
		2.11 Feeling Useful
		2.12 Exchange Costs: Collectibility and Customization
	3 Conclusions
	References
Hey, Robot! An Investigation of Getting Robot's Attention Through Touch
	1 Introduction
	2 Related Work
		2.1 Robots Touching Humans
		2.2 Humans Touching Robots
		2.3 How Should the Robot Respond?
	3 Methods
		3.1 Participants
		3.2 Nao and Pepper Humanoid Robots
		3.3 Touch Detection
		3.4 Reactions to Touch
		3.5 Experimental Procedure
	4 Results
		4.1 Which Reaction Was the Most Appropriate?
		4.2 Interaction with Personality Traits and Experience with Robots
		4.3 Touch Location and Type
	5 Conclusion, Discussion, Future Work
	References
Gaze Cueing and the Role of Presence in Human-Robot Interaction
	1 Introduction
	2 Related Work
	3 Methods and Material
		3.1 Participants
		3.2 Measures
		3.3 Experimental Set-Up and Procedure
		3.4 Hardware and Software
		3.5 Analysis
	4 Results
		4.1 The Effect of Presence and Gaze
		4.2 Analysis of Godspeed Indices
	5 Discussion
	6 Conclusion
	References
Special Session 1: Social Robotics Driven by Intelligent Perception and Endogenous Emotion-Motivation Core
An Efficient Medicine Identification and Delivery System Based on Mobile Manipulation Robot
	1 Introduction
	2 Methods
		2.1 Identification of Boxed Medicine
		2.2 Motion Control of the Robotic Arm
		2.3 Research on Autonomous Navigation Technology
	3 Experimental Studies and Results
		3.1 Feature Extraction Network Performance Experiment
		3.2 Autonomous Navigation Simulation Experiments
		3.3 Real-World Experiments
	4 Conclusion
	References
A Generative Adversarial Network Based Motion Planning Framework for Mobile Robots in Dynamic Human-Robot Integration Environments
	1 Introduction
		1.1 Related Work
		1.2 The Proposed System and Approach
	2 Algorithms
		2.1 GAN-Based Obstacle Avoidance Learning
		2.2 Obstacle Avoidance Learning Based Motion Planning
	3 Experimental Studies and Results
		3.1 GAN-Based Obstacle Avoidance Learning in Different Situation
		3.2 Obstacle Avoidance Learning Based Motion Planning in Different Scenario
	4 Conclusions
	References
Research on 3D Face Reconstruction Based on Weakly Supervised Learning
	1 Introduction
	2 Models and Related Technology
		2.1 Model Parameters
		2.2 Face Segmentation Model
		2.3 Differentiable Renderer - SoftRas
		2.4 Model Loss
	3 Experiments and Results
		3.1 Dataset
		3.2 Implementation Details
		3.3 Results
	4 Conclusion
	References
Robot Differential Behavioral Expression in Different Scenarios
	1 Introduction
	2 Method
		2.1 Social Emotion Model
		2.2 Robot Personality
		2.3 User Behaviour
		2.4 User Evaluation
		2.5 Self Feedback Regulation
		2.6 Processing and Execution
	3 Results and Discussion
	4 Conclusion
	References
Building an Affective Model for Social Robots with Customizable Personality
	1 Introduction and Related Works
	2 The Framework of Customizable Personality Affective Model (CPAM)
		2.1 Overview of Previous Work PWE Inspired Affective Model
		2.2 Parametric Approaches to Personality
		2.3 3D Model Structure
	3 Building Introverted/Extroverted Robot Affective Models
		3.1 Questionnaire of Personality Parameters
		3.2 Calculation of Personality Parameters
	4 Validation and Evaluation
		4.1 Model Test
		4.2 Results
	5 Conclusion and Future Work
	References
A Multimodal Perception and Cognition Framework and Its Application for Social Robots
	1 Introduction
	2 Module Introduction
		2.1 User Portrait
		2.2 Emotion Recognition
		2.3 Intention Prediction
		2.4 Gesture Recognition
	3 Frame Display
	4 Conclusion
	References
Indoor Mobile Robot Socially Concomitant Navigation System
	1 Introduction
	2 System Overview
	3 Mobile Robot Socially Concomitant Navigation System
		3.1 Pedestrian Target Detection
		3.2 Mobile Robot Visual Follow Control
	4 Robot Social Behavior
		4.1 Investigation on Comfort Degree of Human Robot Distance
		4.2 Expression, Voice and Action Modules
	5 Experiment
		5.1 Experiment Environment
		5.2 Pedestrian Following Experiment
	6 Conclusion
	References
NRTIRL Based NN-RRT* Path Planner in Human-Robot Interaction Environment
	1 Introduction
		1.1 Related Work
		1.2 The Proposed System and Approach
	2 Methods
		2.1 NN-RRT* Planner
		2.2 NRTIRL Framework
	3 Experiments
		3.1 Dataset Collection
		3.2 Experimental Metrics
		3.3 Comparative Results
	4 Conclusion
	References
Special Session 2: Adaptive Behavioral Models of Robotic Systems Based on Brain-Inspired AI Cognitive Architectures
Can I Feel You? Recognizing Human’s Emotions During Human-Robot Interaction
	1 Introduction
	2 Emotion and Assistive Social Robotics
		2.1 USEr’s Emotion Detection in Social Assistive Robotics
		2.2 Express Emotions in Assistive Social Robotics
		2.3 Study Design
	3 System and Experiment
		3.1 System Components
		3.2 Experimental Protocol
		3.3 Participants
	4 Data Analysis
		4.1 Pre-processing
		4.2 Features Extraction and Normalization
		4.3 Feature Selection and Emotion Classification
	5 Results
	6 Discussion
	7 Conclusion
	References
A Reinforcement Learning Framework to Foster Affective Empathy in Social Robots
	1 Introduction
	2 Empathetic Framework
		2.1 Training Procedure
		2.2 Training Results
	3 Integration on a Real Robot
		3.1 Experimental Setting
		3.2 Testing Results
	4 Discussion
	References
Robotics Technology for Pain Treatment and Management: A Review
	1 Introduction
	2 Methods
		2.1 Search Methods
		2.2 The PRISMA Protocol and Search Strategy
		2.3 Selection Criteria
	3 Results
		3.1 Demographics and Study Design
		3.2 Types of Robots
		3.3 Pain Conditions
		3.4 Pain Management and Techniques
		3.5 Pain Measurement
	4 Discussion
	5 Conclusion
	References
Implications of Robot Backchannelling in Cognitive Therapy
	1 Introduction
	2 The Personalised RACT System
		2.1 Socially Assistive Behaviour
		2.2 SOCIABLE
	3 Experimental Design
		3.1 Experimental Setting
		3.2 Cognitive Exercises
		3.3 Participants
		3.4 Apparatus
		3.5 Evaluation Measures
		3.6 Protocol
	4 Evaluation
		4.1 Human-Therapist Study
		4.2 Robot-Therapist Study
		4.3 Discussion
	5 Limitations and Future Work
	6 Conclusion
	References
Prototyping an Architecture of Affective Robotic Systems Based on the Theory of Constructed Emotion
	1 Introduction
	2 Background
		2.1 Theory of Constructed Emotion
		2.2 Relevance of Words
		2.3 Emotion Categorisation
	3 Emotion-Aware Chatbot
		3.1 Principles
		3.2 Architecture
		3.3 Datasets
	4 Validation
		4.1 Participants
		4.2 Procedure
		4.3 Results
	5 Conclusions
	References
A Named Entity Recognition Model for Manufacturing Process Based on the BERT Language Model Scheme
	1 Introduction
	2 Related Work
	3 BERT Language Model
	4 Data Collection and Class Description
	5 Implementation
	6 Evaluation Metrics and Baseline Method
	7 Result
	8 Conclusion
	References
Author Index