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The work proposes an initial symbolic cognitive architecture for social perception and engagement that performs intention reading through qualitative spatial reasoning. An ensemble of formally verified parallel processes combines low-level action recognition with high-level goal understanding. Experiments in a simulated kitchen show goal recognition and effective collaborative behavior.",{"@graph":69,"@context":122},[70,84,105],{"@type":71,"itemListElement":72},"BreadcrumbList",[73,77,79,82],{"item":74,"name":75,"@type":76,"position":8},"https://docshare.wps.com","Home","ListItem",{"item":78,"name":9,"@type":76,"position":14},"https://docshare.wps.com/document/",{"item":80,"name":40,"@type":76,"position":81},"https://docshare.wps.com/document/research-report/",3,{"item":83,"name":65,"@type":76,"position":19},"https://docshare.wps.com/document/casper-cognitive-architecture-for-social-perception-and-engagement-in-robots/503475/",{"url":83,"name":65,"@type":85,"image":86,"author":91,"headline":65,"publisher":94,"fileFormat":97,"inLanguage":63,"description":67,"dateModified":98,"datePublished":99,"encodingFormat":97,"isAccessibleForFree":100,"interactionStatistic":101},"DigitalDocument",{"url":87,"@type":88,"width":89,"height":90},"https://docshare.wps.com/thumbnails/casper-cognitive-architecture-for-social-perception-and-engagement-in-robots/503475.png","ImageObject",300,407,{"name":92,"@type":93},"Emma Wilson","Person",{"url":74,"name":95,"@type":96},"DocShare","Organization","application/pdf","2026-10-17","2026-10-03",true,{"@type":102,"interactionType":103,"userInteractionCount":24},"InteractionCounter",{"@type":104},"ViewAction",{"@type":106,"mainEntity":107},"FAQPage",[108,114,118],{"name":109,"@type":110,"acceptedAnswer":111},"What problem does CASPER address in human–robot interaction?","Question",{"text":112,"@type":113},"CASPER focuses on intention reading—inferring an agent’s implicit goals so a robot can choose collaborative actions in complex daily scenarios.","Answer",{"name":115,"@type":110,"acceptedAnswer":116},"How does the architecture perform intention reading and collaboration?",{"text":117,"@type":113},"It uses qualitative spatial reasoning (QSR) to model how partners move relative to objects of interest, then predicts goals and selects assistive collaborative behavior through a verified ensemble of processes.",{"name":119,"@type":110,"acceptedAnswer":120},"What evidence is used to validate CASPER?",{"text":121,"@type":113},"The paper reports tests in a simulated kitchen environment, where results show the robot can recognize an ongoing goal and collaborate effectively toward achieving it.","https://schema.org",{"og:url":83,"og:type":124,"og:title":65,"og:site_name":95,"og:description":67},"article",{"robots":126,"canonical":83},"index,follow",{"doc_id":128,"site_id":62},503475,1791380469,{"code":4,"msg":5,"data":131},{"doc_id":128,"user_id":132,"nickname":92,"user_avatar":133,"doc_module":4,"category_id":39,"category_name":40,"doc_title":65,"doc_description":67,"doc_content":134,"file_id":135,"file_url":136,"file_type":137,"file_size":138,"view_count":24,"is_deleted":4,"is_public":8,"is_downloadable":8,"audit_status":8,"page_count":46,"language":139,"language_code":63,"site_id":62,"html_lang":63,"table_of_contents":140,"faqs":141,"seo_title":142,"seo_description":67,"update_tm":143,"read_time":31},3848291630094,"https://eur-avatar.wpscdn.com/davatar_085a072bc5b1113ac321206ff7593b45","CASPER: Cognitive Architecture for Social Perception and Engagement in Robots  \nVINANZI, Samuele and CANGELOSI, Angelo  \nAvailable from Sheffield Hallam University Research Archive (SHURA) at: [https://shura.shu.ac.uk/33315/](https://shura.shu.ac.uk/33315/)  \nThis document is the Published Version [VoR]  \nCitation:  \nVINANZI, Samuele and CANGELOSI, Angelo (2024) . CASPER: Cognitive Architecture for Social Perception and Engagement in Robots. International Journal of Social Robotics. [Article]  \nCopyright and re-use policy  \nSee [http://shura.shu.ac.uk/information.html](http://shura.shu.ac.uk/information.html)  \nSheffield Hallam University Research Archive  \n[http://shura.shu.ac.uk](http://shura.shu.ac.uk)  \nCASPER: Cognitive Architecture for Social Perception and Engagement in Robots  \nSamuele Vinanzi1 · Angelo Cangelosi2  \nAccepted: 8 February 2024 © The Author(s) 2024  \nAbstract  \nOur world is being increasingly pervaded by intelligent robots with varying degrees of autonomy. To seamlessly integrate themselves in our society, these machines should possess the ability to navigate the complexities of our daily routines even in the absence of a human’s direct input. In other words, we want these robots to understand the intentions of their partners with the purpose of predicting the best way to help them. In this paper, we present the initial iteration of cognitive architecture for social perception and engagement in robots: a symbolic cognitive architecture that uses qualitative spatial reasoning to anticipate the pursued goal of another agent and to calculate the best collaborative behavior. This is performed through an ensemble ofparallel processes that model a low-level action recognition and a high-level goal understanding, both of which are formally verified. We have tested this architecture in a simulated kitchen environment and the results we have collected show that the robot is able to both recognize an ongoing goal and to properly collaborate towards its achievement. This demonstratesa new use of qualitative spatial relations applied to the problem of intention reading in the domain of human–robot interaction.  \nKeywords Cognitive human–robot interaction · Cognitive architectures · Cooperating robots · Social human–robot interaction · Intention reading · Artificial intelligence  \n1 Introduction  \nAutonomous robots are increasingly present in our everyday life. Once limited to research laboratories and industrial settings, they now frequently inhabit our living spaces and interact with us during our day. This new generation of intelligent machines, categorized under the umbrella term of “social robotics”, is expected to navigate a complex and uncertain landscape made of human beliefs, desires, intentions and social norms. Additionally, it is desirable for these agents to be able to act autonomously, that means without direct input from their human partners.  \nIn order to integrate these robots into our society, it is paramount for them to be endowed with the same set ofcognitive and mental skills that regulate the way in which we, as people, interact with other agents. One of the most fun-  \nB Samuele Vinanzi[s.vinanzi@shu.ac.uk](s.vinanzi@shu.ac.uk)  \n1 Department of Computing, Sheffield Hallam University, Sheffield, UK  \n2 Manchester Centre for Robotics and AI, The University of Manchester, Manchester, UK  \ndamental of such skills is known as “intention reading” and represents the capacity to understand the implicit goal that is driving the actions of another agent [1] . By making appropriate use of this ability, we can allow a social robot to use its observations of another agent to extrapolate their underlying goal, reconstruct their expected future actions and, finally, determine how and when to enact collaborative behavior.  \nThispaperpresents ourfirst, inaugural version ofCASPER (cognitive architecture for social perception and engagement in robots), a platform-independent cognitive architecture that uses a mixture o","cbCaipkZrODXzpID","https://ap.wps.com/l/cbCaipkZrODXzpID","pdf",3230605,"English","# Abstract\n# 1 Introduction","[{\"question\":\"What problem does CASPER address in human–robot interaction?\",\"answer\":\"CASPER focuses on intention reading—inferring an agent’s implicit goals so a robot can choose collaborative actions in complex daily scenarios.\"},{\"question\":\"How does the architecture perform intention reading and collaboration?\",\"answer\":\"It uses qualitative spatial reasoning (QSR) to model how partners move relative to objects of interest, then predicts goals and selects assistive collaborative behavior through a verified ensemble of processes.\"},{\"question\":\"What evidence is used to validate CASPER?\",\"answer\":\"The paper reports tests in a simulated kitchen environment, where results show the robot can recognize an ongoing goal and collaborate effectively toward achieving it.\"}]","CASPER: Cognitive Architecture for Social Perception and Engagement in Robots | PDF",1791056903]