While robotics and game development have independently achieved significant progress in creating interactive and intelligent systems, a deeper collaboration between these fields could be mutually beneficial. This paper argues for more collaboration, highlighting current limited interactions and proposing directions for future research. We discuss shared foundations such as Artificial Intelligence, Extended Reality, and the increasing use of common tools and standards. We then propose opportunities where game development methodologies can advance robotics (e.g., gamified data collection and richer simulation environments) and where robotics research can contribute to games (e.g., improved NPC autonomy and embodied intelligence). This cross-disciplinary interaction can accelerate innovation and lead to more intelligent and usercentered technologies in both domains.

Understanding user enjoyment is crucial in human-robot interaction (HRI), as it can impact interaction quality and influence user acceptance and long-term engagement with robots, particularly in the context of conversations with social robots. However, current assessment methods rely solely on self-reported questionnaires, failing to capture interaction dynamics. This work introduces the Human-Robot Interaction Conversational User Enjoyment Scale (HRI CUES), a novel 5-point scale to assess user enjoyment from an external perspective (e.g. by an annotator) for conversations with a robot. The scale was developed through rigorous evaluations and discussions among three annotators with relevant expertise, using open-domain conversations with a companion robot that was powered by a large language model, and was applied to each conversation exchange (i.e. a robot-participant turn pair) alongside overall interaction. It was evaluated on 25 older adults' interactions with the companion robot, corresponding to 174 minutes of data, showing moderate to good alignment between annotators. Although the scale was developed and tested in the context of older adult interactions with a robot, its basis in general and non-task-specific indicators of enjoyment supports its broader applicability. The study further offers insights into understanding the nuances and challenges of assessing user enjoyment in robot interactions, and provides guidelines on applying the scale to other domains and populations. The dataset is available online.

This study aimed to deepen our understanding of the behavioral and neurocognitive processes involved in human-human and human-robot communication in a more ecologically valid setting compared to the traditional neurolinguistic paradigms. We collected a novel open-source dataset (N=30 for human-human and N=20 for human-robot interactions), that includes fMRI, eye-tracking, segmented audio, video, and behavioral data, resulting in 30 minutes of free conversations per participant. To enable unrestricted, spontaneous robot behavior, we employed a novel VR-mediated teleoperation system. Our mixed design allowed us to compare participants' perception of humans and robots across three within-subject conditions of conversational engagement: Engaged Communicator, Active Listener, and Passive Listener. We provide an open-access dataset, replicable code for the teleoperation system, and an initial analysis of fMRI, behavioral, and speech data. We observed distinct neural profiles: speaking to the human agent recruited more higher-level frontal regions associated with socio-pragmatic processes, while listening to the robot recruited more sensory areas, including auditory and visual regions. Engagement levels and agent types also affected speech and behavioral patterns, offering valuable insights into conversational dynamics in human-human and human-robot interactions.

Large Language Models (LLMs) allow social robots to engage in unconstrained open-domain dialogue, but often make mistakes when employed in real-world interactions, requiring adaptation of LLMs to specific conversational contexts. However, LLM adaptation techniques require a feedback signal, ideally for multiple alternative utterances. At the same time, human-robot dialogue data is scarce and research often relies on external annotators. A tool for automatic prediction of user enjoyment in human-robot dialogue is therefore needed. We investigate the possibility of predicting user enjoyment turn-by-turn using an LLM, giving it a proposed robot utterance within the dialogue context, but without access to user response. We compare this performance to the system's enjoyment ratings when user responses are available and to assessments by expert human annotators, in addition to self-reported user perceptions. We evaluate the proposed LLM predictor in a human-robot interaction (HRI) dataset with conversation transcripts of 25 older adults' 7-minute dialogues with a companion robot. Our results show that an LLM is capable of predicting user enjoyment, without loss of performance despite the lack of user response and even achieving performance similar to that of human expert annotators. Furthermore, results show that the system surpasses expert annotators in its correlation with the user's self-reported perceptions of the conversation. This work presents a tool to remove the reliance on external annotators for enjoyment evaluation and paves the way toward real-time adaptation in human-robot dialogue.

User enjoyment is central to developing conversational AI systems that can recover from failures and maintain interest over time. However, existing approaches often struggle to detect subtle cues that reflect user experience. Large Language Models (LLMs) with reasoning capabilities have outperformed standard models on various other tasks, suggesting potential benefits for enjoyment detection. This study investigates whether models with reasoning capabilities outperform standard models when assessing enjoyment in a human-robot dialogue corpus at both turn and interaction levels. Results indicate that reasoning capabilities have complex, model-dependent effects rather than universal benefits. While performance was nearly identical at the interaction level (0.44 vs 0.43), reasoning models substantially outperformed at the turn level (0.42 vs 0.36). Notably, LLMs correlated better with users’ self-reported enjoyment metrics than human annotators, despite achieving lower accuracy against human consensus ratings. Analysis revealed distinctive error patterns: non-reasoning models showed bias toward positive ratings at the turn level, while both model types exhibited central tendency bias at the interaction level. These findings suggest that reasoning should be applied selectively based on model architecture and assessment context, with assessment granularity significantly influencing relative effectiveness.

Conversational systems that interact or collaborate with people must understand not only task success but also the quality of human experience. We present Speech-to-Joy, a lightweight framework that learns to predict users’ own post-interaction enjoyment ratings using latent embeddings from audio and text modalities. Evaluated on a corpus of human-robot dialogues, the model’s predicted enjoyment correlates strongly and significantly with user self-reports, outperforming both an experienced HRI annotator and heavier LLM-based uni- and multimodal baselines. Notably, even the unimodal audio branch - using only frozen speech embeddings - surpasses all baselines, and a late-fusion of text and audio achieves the highest performance. Designed for real-time inference on resource-limited platforms, Speech-to-Joy replaces ad-hoc emotion heuristics with a direct and user-centered measure of enjoyment. This work paves the way for optimizing interactions with robots and other conversational systems through the lens that matters most: the user’s own experience.

A key question in research on the neurobiology of language is to which extent the language production and comprehension systems share neural infrastructure, but this question has not been addressed in the context of conversation. We utilized a public fMRI dataset where 24 participants engaged in unscripted conversations with a confederate outside the scanner, via an audio-video link. We provide evidence indicating that the two systems share neural infrastructure in the left-lateralized perisylvian language network, but diverge regarding the level of activation in regions within the network. Activity in the left inferior frontal gyrus was stronger in production compared to comprehension, while comprehension showed stronger recruitment of the left anterior middle temporal gyrus and superior temporal sulcus, compared to production. Although our results are reminiscent of the classical Broca-Wernicke model, the anterior (rather than posterior) temporal activation is a notable difference from that model. This is one of the findings that may be a consequence of the conversational setting, another being that conversational production activated what we interpret as higher-level socio-pragmatic processes. In conclusion, we present evidence for partial overlap and functional asymmetry of the neural infrastructure of production and comprehension, in the above-mentioned frontal vs temporal regions during conversation.

Enjoyment is a crucial yet complex indicator of positive user experience in Human-Robot Interaction (HRI). While manual enjoyment annotation is feasible, developing reliable automatic detection methods remains a challenge. This paper investigates a multimodal approach to automatic enjoyment annotation for HRI conversations, leveraging large language models (LLMs), visual, audio, and temporal cues. Our findings demonstrate that both text-only and multimodal LLMs with carefully designed prompts can achieve performance comparable to human annotators in detecting user enjoyment. Furthermore, results reveal a stronger alignment between LLM-based annotations and user self-reports of enjoyment compared to human annotators. While multimodal supervised learning techniques did not improve all of our performance metrics, they could successfully replicate human annotators and highlighted the importance of visual and audio cues in detecting subtle shifts in enjoyment. This research demonstrates the potential of LLMs for real-time enjoyment detection, paving the way for adaptive companion robots that can dynamically enhance user experiences.

While we can see robots in more areas of our lives, they still make errors. One common cause of failure stems from the robot perception module when detecting objects. Allowing users to correct such errors can help improve the interaction and prevent the same errors in the future. Consequently, we investigate the effectiveness of a virtual reality (VR) framework for correcting perception errors of a Franka Panda robot. We conducted a user study with 56 participants who interacted with the robot using both VR and screen interfaces. Participants learned to collaborate with the robot faster in the VR interface compared to the screen interface. Additionally, participants found the VR interface more immersive, enjoyable, and expressed a preference for using it again. These findings suggest that VR interfaces may offer advantages over screen interfaces for human-robot interaction in erroneous environments.

Many robots use their voice to communicate with people in spoken language but the voices commonly used for robots are often optimized for transactional interactions, rather than social ones. This can limit their ability to create engaging and natural interactions. To address this issue, we designed a spontaneous text-to-speech tool and used it to author natural and spontaneous robot speech. A crowdsourcing evaluation methodology is proposed to compare this type of speech to natural speech and state-of-the-art text-to-speech technology, both in disembodied and embodied form. We created speech samples in a naturalistic setting of people playing tabletop games and conducted a user study evaluating Naturalness, Intelligibility, Social Impression, Prosody, and Perceived Intelligence. The speech samples were chosen to represent three contexts that are common in tabletopgames and the contexts were introduced to the participants that evaluated the speech samples. The study results show that the proposed evaluation methodology allowed for a robust analysis that successfully compared the different conditions. Moreover, the spontaneous voice met our target design goal of being perceived as more natural than a leading commercial text-to-speech.