Human-Robot Interaction


Course Syllabus        

This course will cover a variety of topics related to social intelligence.  We will spend 1-2 weeks on each topic, and readings/lectures will cover (1) what’s known about how this ability arises in human intelligence, and (2) state-of-the-art approaches to building computational systems with this type of social ability.  Readings will be linked here, and you are expected to turn in a Summary & Critique

Download: syllabus2011.pdf.

Tues, Jan. 18

    First class, introduction


Tues, Jan. 18 

    R. Brooks, “It’s 2001 Already”, Flesh and Machines, Ch. 4, 2003.

    T. Fong et al., “A survey of socially interactive robots”, RAS 2003.  


Introduction & Social Robots Overview

Thurs, Jan. 20

    D. Norman “Emotional Design”, Ch. 6 & 7, 2004.

    S. Klemmer et al., “How bodies matter”, DIS 2006.

Tues, Jan. 25

    D. Dennett, “True Believers," in Mind Design II, (Originally 1981).

    J. Lasseter, “Principles of Traditional Animation applied to 3D Computer Animation”, in Computer Graphics, 1987.


Anthropomorphism & Design

Intentions, Intentionality, and Perceiving other Minds

Collaboration and Teamwork

Emotional Intelligence

Experimental Design

Final Presentations

Mid-term Project Studio

Social Learning

Thurs, Jan 27

    Gergely Csibra, “Teleological and referential understanding of action in infancy”, Philos Trans R Soc Lond B Biol Sci. 2003.

    D. Baldwin and J. Baird, “Discerning Intentions in Dynamic Human Action” TICS 2001.

    optional reading: Woodward, et al., “How infants make sense of intentional action”, Ch7 in Intentions and Intentionality, Ed. Malle and Moses, 2001.

Tues, Feb 1

    O.C. Jenkins et al., “Tracking Human Motion and Actions for Interactive Robots” HRI 2007.  

    Y. Nagai, K. Rohlfing, “Computational Analysis of Motionese Toward Scaffolding Robot Action Learning,” IEEE Trans. on Autonomous Mental Devleopment, 2009.

Thurs, Feb 3

    Gallese and Goldman, “Mirror Neurons and the Simulation Theory of Mind-reading”, TICS 1998.

    Gopnik, Wellman, “Why the Child’s Theory of Mind really is a theory”, 1992.

Tues, Feb 8

   G. Trafton, “Enabling Effective HRI using perspective taking in robots”, T-SMC 2005.     

    C. Breazeal et al., “Using perspective taking to learn from ambiguous demonstrations”  RAS 2006.


Tues, Mar 29

We will take this class to have each group give a presentation on the progress of their term project.  This will be a portion of your final project grade.  Every team member should give some portion of the oral presentation. 

At this point, you have approximately one month left, so you should be finishing up implementation of some social intelligence capabilities on the PR2.  Give us a progress report toward the interaction you are working on.  And importantly, you should use this time in-class to brainstorm with the class about the exact experiment that you will conduct over the last few weeks of the term. 


Thursday, Apr 28:


    We will use our last class for final project presentations. 

    Final project deliverables not due until final exam date (Tues May 5).

Find details on project presentations here.


Thurs, Feb 10

    M. F. Mascolo, “Change processes in development: The concept of coactive scaffolding”, New Ideas in Psychology, 2005.

    A. Meltzoff and J. Decety, “What imitation tells us about social cognition”, Philos Trans R Soc Lon. 2003.

    optional readings:

    A. Meltzoff, “Like-me: a foundation for social cognition” Developmental Science 10:1, 2007.

Tues, Feb 15

    B. Argall et al., “A Survey of Robot Learning by Demonstration” Robotics and Autonomous Systems 2009.

    optional reading: A. Billard et al. “Robot Programming by Demonstration” Handbook of Robotics, Ch 59, 2007.

Thurs, Feb 17

    P. Zukow-Goldring and M. A. Arbib, “Affordances, Effectivities, and Assisted Imitation: Caregivers and the directing of attention” J. of Neurocomputing, Vol 70 Issue 13-15, 2007.
    S. Calinon and A. Billard, “Active Teaching in Robot Programming by Demonstration” RO-MAN 2007.

Tues, Feb 22

    R. Castro et al., “Human Active Learning” NIPS 2008.

    M. Cakmak et al., “Designing Interactions for Robot Active Learners” IEEE Trans. on Autonomous Mental Development, 2010.

    optional reading: S. Vijayanarasimhan and K. Grauman “What’s it going to cost you?: Predicting Effort vs. Informativeness for Multi-label Image Annotations” CVPR 2009.


Thurs, Feb 24

    Wickens, Gordon, and Liu, "Chapter 2: Research Methods" in An Introduction to Human Factors Engineering, 1998.

Tues, Mar 1

   A. Steinfeld, et al. “ Common Metrics for HRI” HRI 2006.

Thurs, Mar 3

   Georgia Tech @ HRI practice talks  (Cakmak, Kemp, and Lee)

Tues, Mar 8

   Guest lecture: Melanie Clark, no readings for today

Thurs, Mar 11

   Experimental design discussion continued, no readings for today


Tues, Mar 15

  R. Picard, “Affective Computers," Ch 2 in Affective Computing, 1999.

Thurs, Mar 17

  C. Breazeal, “Emotion and Sociable Humanoid Robots," Int. J. Human-Computer Studies, 2003.


Thurs, Mar 31

   Sebanz et al. “Joint Action: Bodies and minds moving together,” Trends in Cognitive Science, 2006.

Tues, Apr 5

   Bratman, “Shared Cooperative Activity,” Philosophical Review,1992.

   G. Hoffman & C. Breazeal, “Collaboration in Human-Robot Teams,” AIAA 2004.

    optional reading: G. Hoffman & C. Breazeal, “Cost-Based Anticipatory Action Selection for Human-Robot Fluency,” IEEE Transactions on Robotics 2007.    

Thurs, Apr 7

   No class, Prof. Thomaz @ RSS PC meeting

Tues, Apr 12

    Trevarthen, “Communication and Cooperation in Early Infancy”, 1979.

    Duncan, “Some Signals and Rules for Taking Speaking Turns in Conversations,” 1972.

Thurs, Apr 14

    Bangerter & Clark, “Navigating Joint Projects with Dialog”, Cognitive Science 27 (2003).  

    Clark & Krych, “Speaking while monitoring addresses for understanding”, Journal of Memory and Language, 2004.

Tues, Apr 19

   Rich & Sidner, “Collaborative Discourse, Engagement and Always-On Relational Agents” AAAI Fall Symposium Series 2010.

    D. Bohus & E. Horvitz “Facilitating Multiparty Dialog with Gaze Gesture and Speech” ICMI 2010.

Thurs, Apr 21

    T. Kanda et al., “A humanoid robot that pretends to listen to route guidance from a human” Autonomous Robots, 2007.

    B. Mutlu et al., “Nonverbal leakage in Robots” HRI 2009.