arXiv subjects

Hangyeol Kang

Publications and source records attributed to Hangyeol Kang.

3 recordsLinked to original sources

arXiv2026

Human-Inspired Context-Selective Multimodal Memory for Social Robots

Memory is fundamental to social interaction, enabling humans to recall meaningful past experiences and adapt their behavior accordingly based on the context. However, most current social robots and embodied agents rely on non-selective, text-based memory, limiting their ability to support personalized, context-aware interactions. Drawing inspiration from cognitive neuroscience, we propose a context-selective, multimodal memory architecture for social robots that captures and retrieves both textual and visual episodic traces, prioritizing moments characterized by high emotional salience or scene novelty. By associating these memories with individual users, our system enables socially personalized recall and more natural, grounded dialogue. We evaluate the selective storage mechanism using a curated dataset of social scenarios, achieving a Spearman correlation of 0.506, surpassing human consistency ($ρ=0.415$) and outperforming existing image memorability models. In multimodal retrieval experiments, our fusion approach improves Recall@1 by up to 13\% over unimodal text or image retrieval. Runtime evaluations confirm that the system maintains real-time performance. Qualitative analyses further demonstrate that the proposed framework produces richer and more socially relevant responses than baseline models. This work advances memory design for social robots by bridging human-inspired selectivity and multimodal retrieval to enhance long-term, personalized human-robot interaction.

cs.AI↗

arXiv2026

Affective and Conversational Predictors of Re-Engagement in Human-Robot Interactions -- A Student-Centered Study with A Humanoid Social Robot

Humanoid social robots are increasingly present in daily life, making sustained user engagement a critical factor for their effectiveness and acceptance. While prior work has often examined affective evaluations or anthropomorphic design, less is known about the relative influence of dynamic conversational qualities and perceived robot characteristics in determining a user's intention to re-engage with Large Language Model (LLM)-driven social robots. In this study, 68 participants interacted in open-ended conversations with the Nadine humanoid social robot, completing pre- and post-interaction surveys to assess changes in robot perception, conversational quality, and intention to re-engage. The results showed that verbal interaction significantly improved the robot's perceived characteristics, with statistically significant increases in pleasantness ($p<.0001$) and approachability ($p<.0001$), and a reduction in creepiness ($p<.001$). However, these affective changes were not strong and unique predictors of users' intention to re-engage in a multiple regression model. Instead, participants' perceptions of the interestingness ($β=0.60$, $p<.001$) and naturalness ($β=0.31$, $p=0.015$) of the robot's conversation emerged as the most significant and robust independent predictors of intention to re-engage. Overall, the results highlight that conversational quality, specifically perceived interestingness and naturalness, is the dominant driver of re-engagement, indicating that LLM-driven robot design should prioritize engaging, natural dialogue over affective impression management or anthropomorphic cues.

cs.HC↗

arXiv2024

Nadine: An LLM-driven Intelligent Social Robot with Affective Capabilities and Human-like Memory

In this work, we describe our approach to developing an intelligent and robust social robotic system for the Nadine social robot platform. We achieve this by integrating Large Language Models (LLMs) and skilfully leveraging the powerful reasoning and instruction-following capabilities of these types of models to achieve advanced human-like affective and cognitive capabilities. This approach is novel compared to the current state-of-the-art LLM-based agents which do not implement human-like long-term memory or sophisticated emotional appraisal. The naturalness of social robots, consisting of multiple modules, highly depends on the performance and capabilities of each component of the system and the seamless integration of the components. We built a social robot system that enables generating appropriate behaviours through multimodal input processing, bringing episodic memories accordingly to the recognised user, and simulating the emotional states of the robot induced by the interaction with the human partner. In particular, we introduce an LLM-agent frame for social robots, SoR-ReAct, serving as a core component for the interaction module in our system. This design has brought forth the advancement of social robots and aims to increase the quality of human-robot interaction.

cs.RO↗