Come join the Human-Robot Interaction (HRI) Reading group! We focus on recent trends in HRI Research including user studies in HRI, algorithmic HRI, case studies and systems in HRI. We will draw upon recent papers (< 5 years) mainly from ACM/IEEE HRI conferences but also from other related conferences including RO-MAN, RSS, CHI, ICRA, ICSR, or IROS.

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Zhi Tan and Reuben Aronson


The reading group generally follows a facilitated discussion style. You are expected to have read the paper before coming! You don’t have to understand the paper — anything you don’t understand will make a good question!

In addition, we’re asking participants to volunteer to facilitate paper discussions. This is not mandatory but definitely encouraged! More details available here. If you’d like to reserve a slot, add your name here (login with CMU credentials or email us):

Details (Summer 2019)

Date and time: Mondays 3pm-4pm
Location: NSH 1109

Next Paper

Week 4 (23 Sep 2019)
M. Young, C. Miller, Y. Bi, W. Chen and B. D. Argall, “Formalized Task Characterization for Human-Robot Autonomy Allocation,” 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 6044-6050. NWU
Presenter: Reuben Aronson

Paper History

Fall 2019

Week 1 (26 Aug 2019)
Special talk by Sayanti Roy: “Mutual reinforcement learning for robots as trainers in skill transfer scenario”

2 Sep 2019
No meeting (Labor Day)

Week 2 (9 Sep 2019)
Karen Leung, Edward Schmerling, Mo Chen, John Talbot, J. Christian Gerdes, Marco Pavone. “On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions.” International Symposium on Experimental Robotics (ISER) 2018. arXiv
Presenter: Cherie Ho
Presenter notes: We’ll be discussing a controls paper, with the specific focus on how to design experiments to validate safety-related ideas. To that end, read this paper with that question in mind and don’t worry too much about the technical details or specific experimental flaws. Specifically:

  • What results would you have liked the authors to present?
  • What should be key metrics/axes for this type of work?
  • What are the key assumptions and are they valid? How do they contrast with the HRI assumptions?

Week 3 (16 Sep 2019)
Ayanna Howard and Jason Borenstein, “Hacking the Human Bias in Robotics.” ACM Trans. Hum.-Robot Interact. 7, 1 (May 2018) ACM
Kerstin Dautenhahn, “Some Brief Thoughts on The Past and Future of Human-Robot Interaction.” ACM Trans. Hum.-Robot Interact. 7, 1 (May 2018) ACM
Maja Matarić, “On Relevance: Balancing Theory and Practice in HRI.” ACM Trans. Hum.-Robot Interact. 7, 1 (May 2018) ACM
Rodney Brooks, “A Brave, Creative, and Happy HRI.” ACM Trans. Hum.-Robot Interact. 7, 1 (May 2018) ACM
Presenter: Prof. Henny Admoni

Summer 2019

Week 1 (3 June 2019)
Greenberg, S. and Buxton, B., 2008, April. “Usability evaluation considered harmful (some of the time).” In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems (CHI ‘08) (pp. 111-120). ACM. ACM
Presenter: Kim Baraka
Session notes

Week 2 (10 June 2019)
David Sirkin, Brian Mok, Stephen Yang, and Wendy Ju. 2015. “Mechanical Ottoman: How Robotic Furniture Offers and Withdraws Support.” In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI ‘15). ACM, New York, NY, USA, 11-18. DOI
Presenter: Amy Pavel

Week 3 (17 June 2019)
de Graaf, M. M., & Malle, B. F. (2019). People’s Explanations of Robot Behavior Subtly Reveal Mental State Inferences. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 239-248). IEEE
Presenter: Sam Reig

Week 4 (1 July 2019)
N. Ohshima, R. Fujimori, H. Tokunaga, H. Kaneko and N. Mukawa, “Neut: Design and evaluation of speaker designation behaviors for communication support robot to encourage conversations,” 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Lisbon, 2017, pp. 1387-1393. IEEE
Presenter: Stephanie Valencia Valencia

Week 5 (8 July 2019)
Jin Joo Lee, Brad Knox, Jolie Baumann, Cynthia Breazeal, David DeSteno, “Computationally Modeling Interpersonal Trust.” Frontiers in Psychology, 04 Dec 2013. Frontiers
Presenter: Ada Taylor

Week 6 (15 July 2019)
Dorsa Sadigh, Shankar Sastry, Sanjit A. Seshia, and Anca D. Dragan, “Planning for Autonomous Cars that Leverage Effects on Human Actions.” Robotics: Science and Systems 2016. PDF
Presenter: Tushar Kusnur

Week 7 (22 July 2019)
L. Chan, D. Hadfield-Menell, S. Srinivasa and A. Dragan, “The Assistive Multi-Armed Bandit,” 2019. 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Daegu, Korea (South), 2019, pp. 354-363. IEEE
Presenter: Ben Newman

Week 8 (5 Aug 2019)
Sandy H. Huang, David Held, Pieter Abbeel, Anca D. Dragan, “Enabling Robots to Communicate their Objectives,” 2017. Robotics: Science and Systems RSS
Presenter: Pallavi Koppol

Week 9 (12 Aug 2019)
Aditi Ramachandran, Sarah Strohkorb Sebo, Brian Scassellati, “Personalized Robot Tutoring using the Assistive Tutor POMDP (AT-POMDP),” 2019. Proceedings of the AAAI Conference on Artificial Intelligence, 33(01), 8050-8057. AAAI
Presenter: Anahita Mohseni Kabir

Week 10 (19 Aug 2019)
Room change this week: EDSH (Smith) 200 Malte F. Jung, Jin Joo Lee, Nick DePalma, Sigurdur O. Adalgeirsson, Pamela J. Hinds, and Cynthia Breazeal. 2013. “Engaging robots: easing complex human-robot teamwork using backchanneling.” In Proceedings of the 2013 conference on Computer supported cooperative work (CSCW ‘13). ACM, New York, NY, USA, 1555-1566. ACM
Presenter: Zhi Tan

Spring 2019

Week 1 (4 Feb 2019)
Bahar Irfan, James Kennedy, Séverin Lemaignan, Fotios Papadopoulos, Emmanuel Senft, and Tony Belpaeme. 2018. “Social Psychology and Human-Robot Interaction: An Uneasy Marriage.” In Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (HRI ‘18). ACM, New York, NY, USA, 13-20. DOI

Week 2 (11 Feb 2019)
David Porfirio, Allison Sauppé, Aws Albarghouthi, and Bilge Mutlu. 2018. Authoring and Verifying Human-Robot Interactions. In Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology (UIST ‘18). ACM, New York, NY, USA, 75-86. DOI

Week 3 (18 Feb 2019)
Jaime F. Fisac, Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Steven Wang, Claire J. Tomlin, Anca D. Dragan. “Probabilistically Safe Robot Planning with Confidence-Based Human Predictions.” In Robotics: Science and Systems 2018 (RSS ‘18). RSS

Week 4 (25 Feb 2019)
Correia, Filipa, Samuel F. Mascarenhas, Samuel Gomes, Patrícia Arriaga, Iolanda Leite, Rui Prada, Francisco S. Melo, and Ana Paiva. “Exploring Prosociality in Human-Robot Teams.” In Companion of the 2019 ACM/IEEE International Conference on Human-Robot Interaction (HRI ‘19). ResearchGate

Week 5 (4 Mar 2019)
E. Short, A. Allevato, and A. L. Thomaz. “SAIL: Simulation-Informed Active In-the-Wild Learning.” ACM/IEEE Conference on Human-Robot Interaction (HRI), Daegu, South Korea, 2019. (Email for paper.)

11 Mar 2019: Cancelled for spring break and HRI.

Week 6 (18 Mar 2019)
Choudhury, R., Swamy, G., Hadfield-Menell, D., & Dragan, A.D. (2019). On the Utility of Model Learning in HRI. Human-Robot Interaction, 2019 ACM/IEEE Conference on. arXiv

Week 7 (25 Mar 2019)
Vogt, Paul, et al. “Second Language Tutoring using Social Robots. A Large-Scale Study.” IEEE/ACM Int. Conf. on Human-Robot Interaction (HRI 2019). 2019. Link

Week 8 (1 Apr 2019)

Gallenberger, D., Bhattacharjee, T., Kim, Y., and Srinivasa, S. S. “Transfer depends on Acquisition: Analyzing Manipulation Strategies for Robotic Feeding.” In Proceedings of the 2019 ACM/IEEE international conference on Human-robot interaction. ACM, 2019. Link (pdf)

Week 9 (8 Apr 2019)

Bretan, M., Hoffman, G., & Weinberg, G. (2015). Emotionally expressive dynamic physical behaviors in robots. International Journal of Human-Computer Studies, 78, 1-16. ScienceDirect

Week 10 (16 Apr 2019)

Sanoubari, Elaheh, Stela H. Seo, Diljot Garcha, James E. Young, and Verónica Loureiro-Rodríguez. “Good Robot Design or Machiavellian? An In-the-Wild Robot Leveraging Minimal Knowledge of Passersby’s Culture.” In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), pp. 382-391. IEEE, 2019. Link

Fall 2018

Week 1 (17 Sep 2018)
Rodney Brooks. 2018. “A Brave, Creative, and Happy HRI.” ACM Trans. Hum.-Robot Interact. 7, 1, Article 1 (May 2018), 3 pages. ACM
Kerstin Dautenhahn. 2018. “Some Brief Thoughts on the Past and Future of Human-Robot Interaction.” ACM Trans. Hum.-Robot Interact. 7, 1, Article 4 (May 2018), 3 pages. ACM
Maja Matarić. 2018. “On Relevance: Balancing Theory and Practice in HRI.” ACM Trans. Hum.-Robot Interact. 7, 1, Article 8 (May 2018), 2 pages. ACM

Week 2 (24 Sep 2018)
Joseph E. Michaelis and Bilge Mutlu. 2017. Someone to Read with: Design of and Experiences with an In-Home Learning Companion Robot for Reading. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems (CHI ‘17). ACM, New York, NY, USA, 301-312. DOI

1 Oct 2018: Cancelled for the HRI submission deadline

Week 3 (8 Oct 2018)
Bertram F. Malle, Matthias Scheutz, Thomas Arnold, John Voiklis, and Corey Cusimano. 2015. Sacrifice One For the Good of Many?: People Apply Different Moral Norms to Human and Robot Agents. In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI ‘15). ACM, New York, NY, USA, 117-124. DOI

Week 4 (15 Oct 2018)
Ohn-Bar, Eshed & Kitani, Kris & Asakawa, Chieko. (2018). “Personalized Dynamics Models for Adaptive Assistive Navigation Interfaces.” 2nd Conference on Robot Learning (CoRL 2018) arXiv

Week 5 (22 Oct 2018)
N. Mirnig, S. Stadler, G. Stollnberger, M. Giuliani and M. Tscheligi, “Robot humor: How self-irony and Schadenfreude influence people’s rating of robot likability,” 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), New York, NY, 2016, pp. 166-171. doi: 10.1109/ROMAN.2016.7745106 IEEE

Week 6 (29 Oct 2018)
S. Huang, K. Bhatia, P. Abbeel, and A. Dragan. “Establishing Appropriate Trust Via Critical States.” IROS 2018. arXiv

Week 7 (5 Nov 2018)
Drazen Brscić, Hiroyuki Kidokoro, Yoshitaka Suehiro, and Takayuki Kanda. 2015. Escaping from Children’s Abuse of Social Robots. In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI ‘15). ACM, New York, NY, USA, 59-66. DOI

Week 8 (12 Nov 2018)
Elena Knox and Katsumi Watanabe. 2018. “AIBO Robot Mortuary Rites in the Japanese Cultural Context.” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain. PDF available upon request

Week 9 (19 Nov 2018)
Tom Williams, Daria Thames, Julia Novakoff, and Matthias Scheutz. 2018. “Thank You for Sharing that Interesting Fact!”: Effects of Capability and Context on Indirect Speech Act Use in Task-Based Human-Robot Dialogue. In Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (HRI ‘18). ACM, New York, NY, USA, 298-306. DOI

Week 10 (26 Nov 2018)
Anderson-Bashan, L., Megidish, B., Erel, H., Wald, I., Hoffman, G., Zuckerman, O., & Grishko, A. (2018, August). The Greeting Machine: An Abstract Robotic Object for Opening Encounters. In 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) (pp. 595-602). IEEE

Summer 2018

Week 1 (6 Jun 2018)
Erickson, Z., Clever, H. M., Turk, G., Liu, C. K., & Kemp, C. C. (2017). “Deep Haptic Model Predictive Control for Robot-Assisted Dressing.” arXiv preprint arXiv:1709.09735. (Accepted to ICRA 2018.) arXiv

Week 2 (13 Jun 2018)
Rachel Gockley, Jodi Forlizzi, and Reid Simmons. “Natural person-following behavior for social robots.” HRI 2007 ACM

Week 3 (20 Jun 2018)
Anirudh Vemula, Katharina Muelling, and Jean Oh. “Social Attention: Modeling Attention in Human Crowds.” ICRA 2018. arXiv

27 Jun 2018: Cancelled to attend RSS.

4 Jul 2018: Cancelled for Independence Day.

Week 4 (11 Jul 2018)
Paul Robinette, Wenchen Li, Robert Allen, Ayanna M. Howard, and Alan R. Wagner. “Overtrust of robots in emergency evacuation scenarios.” HRI 2016. IEEE

Week 5 (18 Jul 2018)
Harold Soh, Pan Shu, Min Chen, and David Hsu. “The Transfer of Human Trust in Robot Capabilities across Tasks.” RSS 2018. RSS

Week 6 (25 Jul 2018)
Joseph DelPreto, Andres F. Salazar-Gomez, Stephanie Gil, Ramin M. Hasani, Frank H. Guenther, and Daniela Rus, “Plug-and-Play Supervisory Control Using Muscle and Brain Signals for Real-Time Gesture and Error Detection.” RSS 2018. RSS

Week 11 (3 Dec 2018)
Andrist, S., Bohus, D., Kamar, E., & Horvitz, E. (2017, November). “What Went Wrong and Why? Diagnosing Situated Interaction Failures in the Wild”. In International Conference on Social Robotics (pp. 293-303). Springer, Cham. Springer

Spring 2018

Week 1 (24 Jan 2018)
Vivian Chu, Tesca Fitzgerald, and Andrea L. Thomaz. “Learning Object Affordances by Leveraging the Combination of Human-Guidance and Self-Exploration.” HRI 2016 IEEE

Week 2 (31 Jan 2018)
Hae Won Park, Rinat Rosenberg-Kima, Maor Rosenberg, Goren Gordon, and Cynthia Breazeal. “Growing Growth Mindset with a Social Robot Peer.” HRI 2017 ACM

Week 3 (7 Feb 2018)
Laura M. Hiatt, Cody Narber, Esube Bekele, Sangeet S. Khemlani, and J. Gregory Trafton. “Human Modeling for Human–Robot Collaboration.” IJRR 2017 SAGE

Week 4 (14 Feb 2018)
Denise Hebesberger, Tobias Koertner, Christoph Gisinger, Juergen Pripfl, and Christian Dondrup. “Lessons Learned from the Deployment of a Long-term Autonomous Robot as Companion in Physical Therapy for Older Adults with Dementia: A Mixed Methods Study.” HRI 2016 IEEE

Week 5 (21 Feb 2018)
Chien-Ming Huang and Bilge Mutlu. “Anticipatory Robot Control for Efficient Human-Robot Collaboration.” HRI 2016 ACM

Week 6 (28 Feb 2018)
James Auger. “Living with robots: a speculative design approach.” JHRI 2014 ACM

7 Mar 2018: Skipped to attend HRI

Week 7 (14 Mar 2018)
Daniel Rakita, Bilge Mutlu, and Michael Gleicher. “An Autonomous Dynamic Camera Method for Effective Remote Teleoperation.” HRI 2018 ACM

Week 8 (21 Mar 2018)
Kwangmin Jeong, Jihyun Sung, Hae-Sung Lee, Aram Kim, Hyemi Kim, Chanmi Park, Yuin Jeong, JeeHang Lee, and Jinwoo Kim. “Fribo: A Social Networking Robot for Increasing Social Connectedness through Sharing Daily Home Activities from Living Noise Data.” HRI 2018 ACM

Week 9 (28 Mar 2018)
Christoforos I. Mavrogiannis, Wil B. Thomason, and Ross A. Knepper. “Social Momentum: A Framework for Legible Navigation in Dynamic Multi-Agent Environments.” HRI 2018 ACM

Week 10 (4 Apr 2018)
Nicole Salomons, Michael van der Linden, Sarah Strohkorb Sebo, and Brian Scassellati. “Humans Conform to Robots: Disambiguating Trust, Truth, and Conformity.” HRI 2018 ACM

Week 11 (11 Apr 2018)
Michael Walker, Hooman Hedayati, Jennifer Lee, and Daniel Szafir. “Communicating Robot Motion Intent with Augmented Reality.” HRI 2018 ACM

Week 12 (18 Apr 2018)
Hee Rin Lee and Laurel D. Riek. “Reframing Assistive Robots to Promote Successful Aging.” JHRI 2018 pdf

Week 13 (25 Apr 2018)
Minae Kwon, Sandy H. Huang, and Anca D. Dragan. “Expressing Robot Incapability.” HRI 2018 ACM

Week 14 (2 May 2018)
Location change this week: NSH 1505
Brian Scassellati, Jake Brawer, Katherine Tsui, Setareh Nasihati Gilani, Melissa Malzkuhn, Barbara Manini, Adam Stone, Geo Kartheiser, Arcangelo Merla, Ari Shapiro, David Traum, and Laura-Ann Petitto. “Teaching Language to Deaf Infants with a Robot and a Virtual Human.” CHI 2018. ACM

Week 15 (9 May 2018)
Reddy, Siddharth, Sergey Levine, and Anca Dragan. “Shared Autonomy via Deep Reinforcement Learning.” arXiv preprint arXiv:1802.01744 (2018). arXiv

Week 16 (16 May 2018)
Solace Shen, Hamish Tennent, Houston Claure, and Malte Jung. “My Telepresence, My Culture?: An Intercultural Investigation of Telepresence Robot Operators’ Interpersonal Distance Behaviors.” CHI 2018). ACM

Week 17 (23 May 2018)
Phoebe Liu, Dylan F. Glas, Takayuki Kanda, and Hiroshi Ishiguro. “Data-driven HRI: Learning social behaviors by example from human–human interaction.” IEEE Transactions on Robotics 32, no. 4 (2016). IEEE