{"id":"https://openalex.org/W3185900819","doi":"https://doi.org/10.1145/3451531","title":"Expressive Cognitive Architecture for a Curious Social Robot","display_name":"Expressive Cognitive Architecture for a Curious Social Robot","publication_year":2021,"publication_date":"2021-06-30","ids":{"openalex":"https://openalex.org/W3185900819","doi":"https://doi.org/10.1145/3451531","mag":"3185900819"},"language":"en","primary_location":{"id":"doi:10.1145/3451531","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3451531","pdf_url":null,"source":{"id":"https://openalex.org/S4210173818","display_name":"ACM Transactions on Interactive Intelligent Systems","issn_l":"2160-6455","issn":["2160-6455","2160-6463"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Interactive Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012143522","display_name":"Maor Rosenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Maor Rosenberg","raw_affiliation_strings":["Curiosity Lab, Industrial Engineering Department, Tel-Aviv University, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Curiosity Lab, Industrial Engineering Department, Tel-Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102016303","display_name":"Hae Won Park","orcid":"https://orcid.org/0000-0001-9638-1722"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hae Won Park","raw_affiliation_strings":["Personal Robots Group, MIT Media Lab, Cambridge, Massachusetts, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Personal Robots Group, MIT Media Lab, Cambridge, Massachusetts, United States","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018360140","display_name":"Rinat B. Rosenberg\u2010Kima","orcid":"https://orcid.org/0000-0001-8199-8869"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Rinat Rosenberg-Kima","raw_affiliation_strings":["Faculty of Education in Science and Technology, Technion, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Education in Science and Technology, Technion, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003895851","display_name":"Safinah Ali","orcid":"https://orcid.org/0000-0003-1543-6301"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Safinah Ali","raw_affiliation_strings":["Personal Robots Group, MIT Media Lab, Cambridge, Massachusetts, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Personal Robots Group, MIT Media Lab, Cambridge, Massachusetts, United States","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079359417","display_name":"Anastasia K. Ostrowski","orcid":"https://orcid.org/0000-0002-4275-3946"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Anastasia K. Ostrowski","raw_affiliation_strings":["Personal Robots Group, MIT Media Lab, Cambridge, Massachusetts, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Personal Robots Group, MIT Media Lab, Cambridge, Massachusetts, United States","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108541589","display_name":"Cynthia Breazeal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cynthia Breazeal","raw_affiliation_strings":["Personal Robots Group, MIT Media Lab, Cambridge, Massachusetts, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Personal Robots Group, MIT Media Lab, Cambridge, Massachusetts, United States","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048980839","display_name":"Goren Gordon","orcid":"https://orcid.org/0000-0002-8351-7034"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Goren Gordon","raw_affiliation_strings":["Curiosity Lab, Industrial Engineering Department, Tel-Aviv University, Israel"],"raw_orcid":"https://orcid.org/0000-0002-8351-7034","affiliations":[{"raw_affiliation_string":"Curiosity Lab, Industrial Engineering Department, Tel-Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3641,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.64014262,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"11","issue":"2","first_page":"1","last_page":"25"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14308","display_name":"Psychological and Educational Research Studies","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T14308","display_name":"Psychological and Educational Research Studies","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9700000286102295,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10656","display_name":"Child and Animal Learning Development","score":0.9298999905586243,"subfield":{"id":"https://openalex.org/subfields/3204","display_name":"Developmental and Educational Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/curiosity","display_name":"Curiosity","score":0.9507296085357666},{"id":"https://openalex.org/keywords/learnability","display_name":"Learnability","score":0.9123925566673279},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.700358510017395},{"id":"https://openalex.org/keywords/developmental-robotics","display_name":"Developmental robotics","score":0.6304793953895569},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5319255590438843},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5261518359184265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45009806752204895},{"id":"https://openalex.org/keywords/cognitive-architecture","display_name":"Cognitive architecture","score":0.44011133909225464},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4364449381828308},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.4360717833042145},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41199660301208496},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3170895576477051},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.31244951486587524},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.2714766561985016},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.17343991994857788},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1387113332748413},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.11327067017555237}],"concepts":[{"id":"https://openalex.org/C33435437","wikidata":"https://www.wikidata.org/wiki/Q366791","display_name":"Curiosity","level":2,"score":0.9507296085357666},{"id":"https://openalex.org/C2777723229","wikidata":"https://www.wikidata.org/wiki/Q4367921","display_name":"Learnability","level":2,"score":0.9123925566673279},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.700358510017395},{"id":"https://openalex.org/C11207580","wikidata":"https://www.wikidata.org/wiki/Q5266817","display_name":"Developmental robotics","level":4,"score":0.6304793953895569},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5319255590438843},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5261518359184265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45009806752204895},{"id":"https://openalex.org/C20854674","wikidata":"https://www.wikidata.org/wiki/Q4386060","display_name":"Cognitive architecture","level":3,"score":0.44011133909225464},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4364449381828308},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.4360717833042145},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41199660301208496},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3170895576477051},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.31244951486587524},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.2714766561985016},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.17343991994857788},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1387113332748413},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.11327067017555237},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3451531","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3451531","pdf_url":null,"source":{"id":"https://openalex.org/S4210173818","display_name":"ACM Transactions on Interactive Intelligent Systems","issn_l":"2160-6455","issn":["2160-6455","2160-6463"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Interactive Intelligent Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W98340311","https://openalex.org/W1549428004","https://openalex.org/W1969442018","https://openalex.org/W1983775555","https://openalex.org/W1986642264","https://openalex.org/W1994475294","https://openalex.org/W1994521514","https://openalex.org/W2000514530","https://openalex.org/W2004273399","https://openalex.org/W2005581799","https://openalex.org/W2011885993","https://openalex.org/W2039376592","https://openalex.org/W2042531590","https://openalex.org/W2054908983","https://openalex.org/W2060310955","https://openalex.org/W2071007702","https://openalex.org/W2083954950","https://openalex.org/W2091863037","https://openalex.org/W2098036797","https://openalex.org/W2101524054","https://openalex.org/W2105753174","https://openalex.org/W2147539805","https://openalex.org/W2333591928","https://openalex.org/W2484231675","https://openalex.org/W2497199271","https://openalex.org/W2528441053","https://openalex.org/W2529530318","https://openalex.org/W2575852248","https://openalex.org/W2593982493","https://openalex.org/W2594091522","https://openalex.org/W2773361032","https://openalex.org/W2784991108","https://openalex.org/W2790400526","https://openalex.org/W2791890006","https://openalex.org/W2791904197","https://openalex.org/W2794187674","https://openalex.org/W2886970874","https://openalex.org/W2898417779","https://openalex.org/W2900188788","https://openalex.org/W2920858698","https://openalex.org/W2922943851","https://openalex.org/W2941656809","https://openalex.org/W2941723838","https://openalex.org/W2962991582","https://openalex.org/W3043559353","https://openalex.org/W3096644318","https://openalex.org/W3101480866","https://openalex.org/W4245286259","https://openalex.org/W4246349574"],"related_works":["https://openalex.org/W1975212515","https://openalex.org/W2789073708","https://openalex.org/W4304755079","https://openalex.org/W2523380883","https://openalex.org/W4212793374","https://openalex.org/W3193572893","https://openalex.org/W1994475294","https://openalex.org/W2058840044","https://openalex.org/W2138532291","https://openalex.org/W1903254777"],"abstract_inverted_index":{"Artificial":[0],"curiosity,":[1],"based":[2,164,211],"on":[3,115,165,192,212],"developmental":[4],"psychology":[5],"concepts":[6],"wherein":[7],"an":[8,96,203,218],"agent":[9],"attempts":[10],"to":[11,87,109,130,135,242,258,263],"maximize":[12],"its":[13,80,88,125,133,156,161,166],"learning":[14,83],"progress,":[15,84],"has":[16],"gained":[17],"much":[18],"attention":[19],"in":[20,33,37,47,95,222,231],"recent":[21,45],"years.":[22],"Similarly,":[23],"social":[24,51,66,268],"robots":[25,52],"are":[26],"slowly":[27],"integrating":[28],"into":[29,53],"our":[30,38],"daily":[31],"lives,":[32],"schools,":[34],"factories,":[35],"and":[36,50,65,69,77,111,138,149,158,177,180],"homes.":[39],"In":[40],"this":[41,93,229],"contribution,":[42],"we":[43,170,200],"integrate":[44,259],"advances":[46],"artificial":[48,63,194],"curiosity":[49,64,195,210,224,233],"a":[54,99,106,116,172,254],"single":[55],"expressive":[56],"cognitive":[57],"architecture.":[58],"It":[59],"is":[60,253],"composed":[61],"of":[62,197,267],"expressivity":[67],"modules":[68],"their":[70,213],"unique":[71],"link,":[72],"i.e.,":[73],"the":[74,119,136,146,152,183,188,193,198,226,238,243,250,264],"robot":[75,102,153],"verbally":[76],"non-verbally":[78],"communicates":[79],"internally":[81],"estimated":[82,126,155,223,232],"or":[85],"learnability,":[86,157],"human":[89],"companion.":[90],"We":[91,144],"implemented":[92,147],"architecture":[94,148,252],"interaction":[97],"where":[98],"fully":[100],"autonomous":[101],"took":[103],"turns":[104],"with":[105,237],"child":[107],"trying":[108],"select":[110],"solve":[112],"tangram":[113,129],"puzzles":[114],"tablet.":[117],"During":[118],"curious":[120,176,244],"robot\u2019s":[121,184],"turn,":[122],"it":[123],"selected":[124],"most":[127],"learnable":[128],"play,":[131],"communicated":[132],"selection":[134,162],"child,":[137],"then":[139],"attempted":[140],"at":[141],"solving":[142],"it.":[143],"validated":[145],"showed":[150,181],"that":[151,182,205,249],"learned,":[154],"improved":[159],"when":[160],"was":[163,234],"learnability":[167],"estimation.":[168],"Moreover,":[169],"ran":[171],"comparison":[173],"study":[174],"between":[175],"non-curious":[178,239],"robots,":[179],"curiosity-based":[185,261],"behavior":[186],"influenced":[187],"child\u2019s":[189,208],"selections.":[190,214],"Based":[191],"module":[196],"robot,":[199,240],"have":[201],"formulated":[202],"equation":[204],"estimates":[206],"each":[207],"moment-by-moment":[209],"This":[215],"analysis":[216],"revealed":[217],"overall":[219],"significant":[220],"decrease":[221],"during":[225],"interaction.":[227],"However,":[228],"drop":[230],"significantly":[235],"larger":[236],"compared":[241],"one.":[245],"These":[246],"results":[247],"suggest":[248],"new":[251,256],"promising":[255],"approach":[257],"state-of-the-art":[260],"algorithms":[262],"growing":[265],"field":[266],"robots.":[269]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}