# ROS for Human-Robot Interaction

arXiv: https://arxiv.org/abs/2012.13944 · HTML: https://mlsanity.com/paper/2012.13944/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Dec 2020.

## Built on by (most cited first, 6 of 6)

- [I Was Blind but Now I See: Implementing Vision-Enabled Dialogue in Social Robots](https://mlsanity.com/paper/2311.08957/) (2023)
- [Trust in Language Grounding: a new AI challenge for human-robot teams](https://mlsanity.com/paper/2209.02066/) (2022)
- [Socially Pertinent Robots in Gerontological Healthcare](https://mlsanity.com/paper/2404.07560/) (2024)
- [A ROS Architecture for Personalised HRI with a Bartender Social Robot](https://mlsanity.com/paper/2203.06631/) (2022)
- [The eyes and hearts of UAV pilots: observations of physiological responses in real-life scenarios](https://mlsanity.com/paper/2210.14910/) (2022)
- [Open Access NAO (OAN): a ROS2-based software framework for HRI applications with the NAO robot](https://mlsanity.com/paper/2403.13960/) (2024)

## Abstract (arXiv)

Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is compounded by the lack of any standard model for human representation that would facilitate the development and interoperability of social perception components and pipelines. We introduce in this paper a set of conventions and standard interfaces for HRI scenarios, designed to be used with the Robot Operating System (ROS). It directly aims at promoting interoperability and re-usability of core functionality between the many HRI-related software tools, from skeleton tracking, to face recognition, to natural language processing. Importantly, these interfaces are designed to be relevant to a broad range of HRI applications, from high-level crowd simulation, to group-level social interaction modelling, to detailed modelling of human kinematics. We demonstrate these interface by providing a reference pipeline implementation, packaged to be easily downloaded and evaluated by the community.