The capability of collaboration is critical in the design of symbiotic cognitive systems. To obtain this functional capability, a cognitive system should possess evaluative and communicative processes. Emotions and their underlying processes provide such functions in social and collaborative environments. We investigate the mutual influence of affective and collaboration processes in a cognitive theory to support the interaction between humans and robots or virtual agents. We have developed new algorithms for these processes, as well as a new overall computational model for implementing collaborative robots and agents. We build primarily on the cognitive appraisal theory of emotions and the SharedPlans theory of collaboration to investigate the structure, fundamental processes and functions of emotions in a collaboration context.

We present a system that integrates robot task execution with user input and feedback at multiple abstraction levels in order to achieve greater adaptability in new environments. The user can specify a hierarchical task, with the system interactively proposing logical action groupings within the task. During execution, if tasks fail because objects specified in the initial task description are not found in the environment, the robot proposes substitutions autonomously in order to repair the plan and resume execution. The user can assist the robot by reviewing substitutions. Finally, the user can train the robot to recognize and manipulate novel objects, either during training or during execution. In addition to this single-user scenario, we propose extensions that leverage crowdsourced input to reduce the need for direct user feedback.

The agent is "always on," i.e. it is continuously available and aware (using a camera and infrared motion sensor) when the user is in its presence and can initiate interaction with the user, rather than requiring the user login to begin interaction. We expect that the agent will help reduce the user's isolation not just by always being around but also by specific activities that connect the user with friends, family and the local community. Our goal is for the agent to be a natural, humanlike presence that "resides" in the user's apartment. Beginning in the late summer of 2014, we will be placing our agents with users for a monthlong evaluation study. Figure 1: Virtual agent interface -- "Karen" Three issues of our project directly concern the topics of this workshop are: (1) the embodiment of the agent, (2) the engagement behaviors that are associated with being "always measures we will be using are questionnaires that assess the on," and (3) AI tools for support intelligent behavior.

In this work, we focus on advancing the state of the art in intelligent agents that can learn complex procedural tasks from humans. Our main innovation is to view the interaction between the human and the robot as a mixed- initiative collaboration. Our contribution is to integrate hierarchical task networks and collaborative discourse theory into the learning from demonstration paradigm to enable robots to learn complex tasks in collaboration with the human teacher.

Current behavior authoring tools force game designers to split their attention between the game context and the tool context. We have addressed this problem by developing a behavior authoring tool that merges these two contexts. This paper outlines the design and implementation of a gameindependent behavior tree authoring tool, called AIPaint, that allows a designer to create and edit behavior trees via a natural sketching interface overlaid on the game world. We demonstrate the use of AIPaint to author computercontrolled characters in two simple games and report on an observational evaluation.

We summarize our past, present and future research related to human-robot dialogue, starting with its foundations in collaborative discourse theory, continuing to our current research on recognizing and generating engagement, and concluding with an outline of new work we are beginning on the modeling of long-term relationships between humans and robots.

We have developed and demonstrated an experimental authoring and run-time tool, called Disco for Games, that supports the creation of games in which dialogue and action are integrated without the need for changing modes. This tool is based on collaborative discourse theory and hierarchical task networks, in which utterances are treated as actions, and has a number of additional benefits including better modeling of interruptions, automatic dialogue generation, plan recognition and automatic failure retry.

Demonstration materials can take the research and industry presentations, project demonstrations, (Path planning, animation / camera control, tactical / strategic form of a recorded demonstration session, an executable version interactive poster sessions, and product exhibits.

DiamondHelp is a generic collaborative task guidance system motivated by the current usability crisis in high-tech home products. It combines an application-independent conversational interface (adapted from online chat programs) with an application-specific direct-manipulation interface. DiamondHelp is implemented in Java and uses Collagen for representing and using task models.

We describe an approach to intelligent user interfaces, based on the idea of making the computer a collaborator, and an application-independent technology for implementing such interfaces.