Publications

EMOROBCARE: A Low-Cost Social Robot for Supporting Children with Autism in Therapeutic Settings
S. Cooper, B. Pou, A. Mayoral-Macau, A. Redondo, D. Rios, R. Ros
International Conference on Social Robotics (ICSR), 2025
doi: To appear PDF
Keywords: ASD, Child–Robot Interaction, Architecture
Show BibTeX

            
@inproceedings{cooper2025emorobcare,
  author = "Sara Cooper and Bartomeu Pou and Arnau Mayoral-Macau and Alberto Redondo and David Rios and Raquel Ros",
  title = "EMOROBCARE: A Low-Cost Social Robot for Supporting Children with Autism in Therapeutic Settings",
  booktitle="International Conference on Social Robotics (ICSR)",
  year = 2025
}
            

Dynamics of Mental Models: Objective Vs. Subjective User Understanding of a Robot in the Wild
F. Gebellí, A. Garell, S. Lemaignan, R. Ros
IEEE Robotics and Automation Letters, 2025
doi: 10.1109/LRA.2025.3579217 PDF
Keywords: Social HRI, long term interaction, human-centered robotics
Show BibTeX

@article{gebelli2025dynamics,
  author={Gebellí, Ferran and Garell, Anaís and Lemaignan, Séverin and Ros, Raquel},
  journal={IEEE Robotics and Automation Letters}, 
  title={Dynamics of Mental Models: Objective Vs. Subjective User Understanding of a Robot in the Wild}, 
  year={2025},
  volume={10},
  number={8},
  pages={7755-7762},
  doi={10.1109/LRA.2025.3579217}}
              

From Percepts to Semantics: A Multi-modal Saliency Map to Support Social Robots' Attention
L. Ferrini, A. Andriella, R. Ros, S. Lemaignan
ACM Transactions on Human-Robot Interaction, 2025
doi:10.1145/3737891 PDF
Keywords: Visual attention, Saliency, Robot gaze, Human-robot interaction
Show BibTeX

              
@article{ferrini2925percepts,
  author = {Ferrini, Lorenzo and Andriella, Antonio and Ros, Raquel and Lemaignan, Severin},
  title = {From Percepts to Semantics: A Multi-modal Saliency Map to Support Social Robots's Attention},
  journal={ACM Transactions on Human-Robot Interaction},
  year = {2025},
  publisher = {Association for Computing Machinery},
  volume = {14},
  number = {4},
  doi = {10.1145/3737891}}
              

Personalised Explanations in Long-Term Human-Robot Interactions
F. Gebellí; A. Garrell, J. G. Habekost, S. Lemaignan, S. Wermter, R.Ros
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2025
doi:To appear PDF
Keywords: Explainability, Personalisation

TIAGo Head: an AI Powered Platform for Social Robotics
S. Cooper, S. Lemaignan, R. Ros, F. Gebellí, L. Juricic, L. Ferrini, N. Baños, L. Marchioni, F. Ferro
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2025
doi:To appear PDF

Experimenting with Affective Computing Models in Video Interviews with Spanish-speaking Older Adults
J. Lopez Camunas, C. Bustos, Y. Zhu, R. Ros, A. Lapedriza
CV4Smalls Workshop Computer Vision with Small Data: A Focus on Infants, Toddlers, and the Elderly at WACV, 2025
doi:10.48550/arXiv.2501.16870 PDF
Show BibTeX

                 
@inproceedings{lopez2025experimenting,
      title={Experimenting with Affective Computing Models in Video Interviews with Spanish-speaking Older Adults}, 
      author={Josep Lopez Camunas and Cristina Bustos and Yanjun Zhu and Raquel Ros and Agata Lapedriza},
      year={2025},
      booktitle= "CV4Smalls Workshop Computer Vision with Small Data: A Focus on Infants, Toddlers, and the Elderly at WACV",
      eprint={2501.16870},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2501.16870}, 
}                  
      

Demonstration of an Open-source ROS 2 Framework and Simulator for Situated Interactive Social Robot
S. Cooper, R. Ros, S. Lemaignan, F. Gebellí, L. Ferrini, L. Juricic
ACM/IEEE International Conference on Human-Robot Interaction, 2025
doi:10.5555/3721488.3721763 PDF
Keywords: Situated social robots; ROS 2 framework; mixed-reality simulator
Show BibTeX

 
@INPROCEEDINGS{10974109,
    author={Cooper, Sara and Ros, Raquel and Lemaignan, Séverin and Gebellí, Ferran and Ferrini, Lorenzo and Juričić, Luka},
    booktitle={2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)}, 
    title={Demonstration of an Open-Source ROS 2 Framework and Simulator for Situated Interactive Social Robots}, 
    year={2025},
    volume={},
    number={},
    pages={1770-1772},
    keywords={Social robots;Semantics;Natural languages;Knowledge based systems;Systems architecture;Virtual reality;Ontologies;Cognition;Situated social robots;ROS 2 framework;mixed-reality simulator},
    doi={10.1109/HRI61500.2025.10974109}
}
              

Personalised Explainable Robots Using LLMs
F. Gebellí, L. Hriscu, R. Ros, S. Lemaignan, A. Sanfeliu, A. Garrell
ACM/IEEE International Conference on Human-Robot Interaction, 2025
doi:10.5555/3721488.3721668 PDF
Keywords: XHRI, explainability, personalisation, LLM
Show BibTeX

 
@inproceedings{10.5555/3721488.3721668,
    author = {Gebell\'{\i}, Ferran and Hriscu, Lavinia and Ros, Raquel and Lemaignan, S\'{e}verin and Sanfeliu, Alberto and Garrell, Ana\'{\i}s},
    title = {Personalised Explainable Robots Using LLMs},
    year = {2025},
    publisher = {IEEE Press},
    booktitle = {Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction},
    pages = {1304–1308},
    numpages = {5},
    keywords = {explainability, llm, personalisation, xhri},
    location = {Melbourne, Australia},
    series = {HRI '25}
}
              

A virtual data generator system for shape recognition in haptic robotics
C. Parés-Morlans, A. Gutiérrez, G. Garrofé, P. Nonell, C. Serrano T. van den Heijkant, M. Vera, C. Ruiz Jr, L. Vidal, A. González, O. de Jesús, R. Ros, D. Miralles
International Journal of Intelligent Robotics and Applications, 2025
doi: 10.1007/s41315-024-00402-6 PDF
Keywords: Actuators, Sensors, Haptic, Design, Object recognition, Simulation
Show BibTeX

                 
@article{pares2024virtual,
    title={A virtual data generator system for shape recognition in haptic robotics}, 
    author={Anna Gutiérrez, Guillem Garrofé, Pau Nonell, Claudia Serrano, Carlota Parés-Morlans, Tomás van den Heijkant, Mireia Vera, Conrado Ruiz Jr., Laia Vidal, Alejandro González, Òscar de Jesús, Raquel Ros & David Miralles},
    year={2025},
    journal= "International Journal of Intelligent Robotics and Applications",
    pages={375–388},
    volume={9},
    doi={10.1007/s41315-024-00402-6}
}   
                

Social embeddings: Concept and initial investigation
S. Lemaignan, A. Andriella, L. Ferrini, L. Juricic, Y. Mohamed, R. Ros
Open Research Europe, 2024
doi: 10.12688/openreseurope.17296.1 PDF
Keywords: Social representation, embeddings, machine learning, human-robot interaction, AI, digital humanities
Show BibTeX

 
@Article{lemaignan2024social,
  AUTHOR = { Lemaignan, S and Andriella, A and Ferrini, L and Juricic, L and Mohamed, Y and Ros, R},
  TITLE = {Social Embeddings: Concept and Initial Investigation [version 1; peer review: 2 approved with reservations]},
  JOURNAL = {Open Research Europe},
  VOLUME = {4},
  YEAR = {2024},
  NUMBER = {63},
  DOI = {10.12688/openreseurope.17296.1}
}
                

Proceedings of the 25th International Conference of the Catalan Association for Artificial Intelligence
I. Sanz, R. Ros, J. Nin
Artificial Intelligence Research and Development, 2024
doi: not available PDF
Keywords: proceedings

Co-designing Explainable Robots: A Participatory Design Approach for HRI
F. Gebellí, R. Ros, S. Lemaignan, A. Garell
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2024
doi: 10.1109/RO-MAN60168.2024.10731212 PDF
Keywords: co-design, hri, explainability
Show BibTeX

                 
@INPROCEEDINGS{10731212,
    author={Gebellí, Ferran and Ros, Raquel and Lemaignan, Séverin and Garrell, Anaís},
    booktitle={33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)}, 
    title={Co-designing Explainable Robots: A Participatory Design Approach for HRI}, 
    year={2024},
    pages={1564-1570},
    doi={10.1109/RO-MAN60168.2024.10731212}}
                

Dataset and Evaluation of Automatic Speech Recognition for Multi-lingual Intent Recognition on Social Robots
A. Andriella, R. Ros, Y. Ellinson, S. Gannot, S. Lemaignan
International Conference on Human-Robot Interaction (HRI), 2024
doi: 10.1145/3610977.3637473 PDF
Keywords: Automatic Speech Recognition, Audio Dataset, Human-Robot Interaction, Assistive Robotics
Show BibTeX

                 
@inproceedings{10.1145/3610977.3637473,
    author = {Andriella, Antonio and Ros, Raquel and Ellinson, Yoav and Gannot, Sharon and Lemaignan, S\'{e}verin},
    title = {Dataset and Evaluation of Automatic Speech Recognition for Multi-lingual Intent Recognition on Social Robots},
    year = {2024},
    publisher = {Association for Computing Machinery},
    url = {https://doi.org/10.1145/3610977.3637473},
    doi = {10.1145/3610977.3637473},
    booktitle = {Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction},
    pages = {865–869},
    numpages = {5},
}
                

Participatory design for explainable robots
F. Gebellí, R. Ros, A. Garrell
X-HRI Workshop at HRI, 2024
doi: Not available PDF
Keywords: Participatory Design, HRI, Explainability, Transparency

Challenges of deploying assistive robots in real-life scenarios: an industrial perspective
S. Cooper, R. Ros, S. Lemaignan
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023
doi: 10.1109/RO-MAN57019.2023.10309467 PDF
Keywords: assistive robots, in-the-wild, health
Show BibTeX

                  
@INPROCEEDINGS{cooper2023challenges,
  author={Cooper, Sara and Ros, Raquel and Lemaignan, Séverin},
  booktitle={32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)}, 
  title={Challenges of deploying assistive robots in real-life scenarios: an industrial perspective}, 
  year={2023},
  pages={435-442},
  doi={10.1109/RO-MAN57019.2023.10309467}}
                

Open-source Natural Language Processing on the PAL Robotics ARI Social Robot
S. Lemaignan, S. Cooper, R. Ros, L. Ferrini, A. Andriella, A. Irisarri
International Conference on Human-Robot Interaction, 2023
doi: 10.1145/3568294.3580041
Keywords: x, x

Empathy as an engaging strategy in social robotics: a pilot study
M. García-Corretjer, R. Ros, R. Mallol, D. Miralles
User Modeling and User-Adapted Interaction, 2022
doi: 10.1007/s11257-022-09322-1
Keywords: x, x

Expanding the Use of Robotics in ASD Programs in a Real Educational Setting
S. Caro-Via, M. Espuña, R. Ros
International Conference of Social Robotics, 2022
doi: 10.1007/978-3-031-24670-8_16
Keywords: x, x

Towards the deployment of a social robot at an elderly day care facility
S. Cooper, R. Ros
International Conference of Social Robotics, 2022
doi: 10.1007/978-3-031-24670-8_25
Keywords: x, x

Towards Real World Impacts: Design, Development, and Deployment of Social Robots in the Wild
C. H. Park, R. Ros, S. Kwak, C.M. Huang, S. Lemaignan
Frontiers in Robotics and AI Research, 2021
doi: Not available
Keywords: x, x

The Maze of Realizing Empathy with Social Robots
M. García-Corretjer, R. Ros, F. Martín Valcárcel, D. Miralles
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020
doi: Not available
Keywords: x, x

Exploration of a Robot-based Adaptive Cognitive Stimulation System for the Elderly
R. Ros, M. Espona
ACM/IEEE International Conference on Human-Robot Interaction, 2020
doi: Not available
Keywords: x, x

Towards Long-Term Social Child-Robot Interaction: Using Multi-Activity Switching to Engage Young Users
A. Coninx, P. Baxter, E. Oleari, S. Bellini, B. Bierman, O. Blanson Henkemans, L. Cañamero, P. Cosi, V. Enescu, R. Ros, A. Hiolle, R. Humbert, B. Kiefer, I. Kruijff-Korbayovà, R. Looije, M. Mosconi, M. Neerincx, G. Paci, G. Patsis, C. Pozzi, F. Sacchitelli, H. Sahli, A. Sanna, G. Sommavilla, F. Tesser, Y. Demiris; T. Belpaeme
Journal of Human-Robot Interaction, 2016
doi: Not available
Keywords: x, x

A Motivational Approach to Support Healthy Habits in Long-term Child–Robot Interaction
R. Ros, E. Oleari, C. Pozzi, F. Sacchitelli, D. Baranzini, A. Bagherzadhalimi, A. Sanna, Y. Demiris
International Journal of Social Robotics, 2016
doi: 10.1007/s12369-016-0356-9
Keywords: x, x

Let’s Be Friends: Perception of a Social Robotic Companion for children with T1DM
I. Kruijff-Korbayova, E. Oleari, C. Pozzi, F. Sacchitelli, A. Bagherzadhalimi, S. Bellini, B. Kiefer, S. Racioppa, A. Coninx, P. Baxter, B. Bierman, O. Blanson, M. Neerincx, R. Loije, Y. Demiris, R. Ros, M. Mosconi, P. Cosi, R. Humbert, L. Cañamero, H. Sahli, J. de Greeff, J. Kennedy, R. Read, M. Lewis, A. Hiolle, G. Paci, G. Sommavilla, F. Tesser, G. Athanasopoulos, G. Patsis, W. Verhelst, A. Sanna, T. Belpaeme
New Friends 1st International Conference on Social Robots in Therapy and Education, 2015
doi: Not available
Keywords: x, x

Adaptive human–robot interaction in sensorimotor task instruction: From human to robot dance tutors
R. Ros, I. Baroni, Y. Demiris
Robotics and Autonomous Systems, 2014
doi: Not available
Keywords: x, x

Behavioral Accommodation towards a Dance Robot Tutor
R. Ros, A. Coninx, G. Patsis, V. Enescu, H. Sahli, Y. Demiris
ACM International Conference on Human-Robot Interaction, 20214
doi: Not available
Keywords: x, x

Creative dance: An approach for social interaction between robots and children
R. Ros, Y. Demiris
Human Behavior Understanding, 2013
doi: 10.1007/978-3-319-02714-2_4
Keywords: x, x

Multimodal Child-Robot Interaction: Building Social Bonds
T. Belpaeme, P. Baxter, R. Read, R. Wood, H, Cuayáhuitl, B. Kiefer, S, Racioppa, I. Kruijff-Korbayová, G. Athanasopoulos, V. Enescu, R. Looije, M. Neerincx, Y. Demiris, R. Ros, A. Beck, L. Cañamero, A. Hiolle, M. Lewis, I. Baroni, M. Nalin, P. Cosi, G. Paci, F. Tesser, G. Sommavilla, R. Humbert
Journal of Human-Robot Interaction, 2012
doi: Not available

Grounding the interaction: Anchoring situated discourse in everyday human-robot interaction
S. Lemaignan, R. Ros, E.A. Sisbot, R. Alami, M. Beetz
International Journal of Social Robotics, 2012
doi: Not available

A conversational system for multi-session child-robot interaction with several games
I. Kruijff-Korbayová, H. Cuayáhuitl, B. Kiefer, M. Schröder, P. Cosi, G. Paci, G. Sommavilla, F. Tesser, H. Sahli, G. Athanasopoulos, W. Wang, V. Enescu, W. Verhelst, L. Cañamero, A. Beck, A. Hiolle, R. Ros, Y. Demiris
German Conference on Artificial Intelligence, 20212
doi: Not available
Keywords: x, x

Child-robot interaction in the wild: advice to the aspiring experimenter
R. Ros, M. Nalin, R. Wood, P. Baxter, R. Looije, Y. Demiris, T. Belpaeme
International Conference on Multimodal Interfaces, 2011
doi: dx.doi.org/10.1145/2070481.2070545
Keywords: x, x

Adapting robot behavior to user’s capabilities: a dance instruction study
R. Ros, I. Baroni, M. Nalin, Y. Demiris
International Conference on Human-Robot Interaction, 2011
doi: 10.1145/1957656.1957748
Keywords: x, x

Towards an open-source social middleware for humanoid robots
M. Sarabia, R. Ros, Y. Demiris
IEEE-RAS International Conference on Humanoid Robots, 2011
doi: 10.1109/Humanoids.2011.6100883
Keywords: x, x

Analysing the Behaviour of Robot Teams through Relational Sequential Pattern Mining
G. Bombini, R. Ros, S. Ferilli, R. López de Màntaras
Foundations of Intelligent Systems, 2011
doi: 10.1007/978-3-642-21916-0_19
Keywords: x, x

Dialogue in situated environments: A symbolic approach to perspective-aware grounding, clarification and reasoning for robots
S. Lemaignan, R. Ros, R. Alami
Workshop on Grounding Human-Robot Dialog for Spatial Tasks at RSS, 2011
doi: not available
Keywords: x, x

What are you talking about? Grounding dialogue in a perspective-aware robotic architecture
S. Lemaignan, R. Ros, R. Alami, M. Beetz
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2011
doi: 10.1109/ROMAN.2011.6005249
Keywords: x, x

Situation assessment for human-robot interaction
E.A. Sisbot, R. Ros, R. Alami
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2011
doi: 10.1109/ROMAN.2011.6005258
Keywords: x, x

ORO, a knowledge management platform for cognitive architectures in robotics
S. Lemaignan, R. Ros, L. Mösenlechner, R. Alami, M. Beetz
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010
doi: 10.1109/IROS.2010.5649547
Keywords: x, x

Robot, tell me what you know about...?: Expressing robot’s knowledge through interaction
R. Ros, E.A. Sisbot, S. Lemaignan, A. Pandey, R. Alami
Workshop on Interactive Communication for Autonomous Intelligent Robots at ICRA, 2010
doi: not avaiable
Keywords: x, x

Which one? Grounding the referent based on efficient human-robot interaction
R. Ros, S. Lemaignan, E.A. Sisbot, R. Alami, J. Steinwender, K. Hamann
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2010
doi: 10.1109/ROMAN.2010.5598719
Keywords: x, x

Solving ambiguities with perspective taking
R. Ros, E.A. Sisbot, R. Alami, J. Steinwender, K. Hamann, F. Warneken
ACM/IEEE International Conference on Human-Robot Interaction, 2010
doi: Not available
Keywords: x, x

A case-based approach for coordinated action selection in robot soccer
R. Ros, J.L. Arcos, R.L. De Mantaras, M. Veloso
Artificial Intelligence, 2009
doi: Not available
Keywords: x, x

Improving Reinforcement Learning by Using Case Based Heuristics
R. Bianchi, R. Ros, R. López de Màntaras
Case-Based Reasoning Research and Development, 2009
doi: 10.1007/978-3-642-02998-1_7
Keywords: x, x

Beyond individualism: Modeling team playing behavior in robot soccer through case-based reasoning
R. Ros, M. Veloso, R. López de Màntaras, C. Sierra, J. L. Arcos
AAAI Conference on Artificial Intelligence, 2007
doi: ?
Keywords: x, x

Executing multi-robot cases through a single coordinator
R. Ros, M. Veloso
International Conference on Autonomous Agents and MultiAgent Systems (AAMAS), 2007
doi: 10.1145/1329125.1329384
Keywords: x, x

Team Playing Behavior in Robot Soccer: A Case-Based Reasoning Approach
R. Ros, R. López de Màntaras, J. L. Arcos, M. Veloso
Case-Based Reasoning Research and Development, 2007
doi: 10.1007/978-3-540-74141-1_4
Keywords: x, x

Acquiring a Robust Case Base for the Robot Soccer Domain
R. Ros, J.L. Arcos
International Joint Conference on Artificial Intelligence (IJCAI), 2007
doi: Not available
Keywords: x, x

Retrieving and Reusing Game Plays for Robot Soccer
R. Ros, M. Veloso, R. López de Màntaras; C. Sierra, J.L. Arcos
Advances in Case-Based Reasoning, 2006
doi: 10.1007/11805816_6
Keywords: x, x

A negotiation meta strategy combining trade-off and concession moves
R. Ros, C. Sierra
Autonomous Agents and Multi-Agent Systems, 2006
doi: 10.1007/s10458-006-5837-z PDF
Keywords: x, x

A CBR System for Autonomous Robot Navigation
R. Ros, R. López de Màntaras, C. Sierra, J. L. Arcos
Catalan Conference on Artificial Intelligence, 2005
doi: ?
Keywords: x, x

Experimental analysis of negotiation meta strategies
R. Ros, C. Sierra
International joint conference on Autonomous agents and multiagent systems (AAMAS), 2005
doi: 10.1145/1082473.1082697
Keywords: x, x