![](bg8.png)
Table 4: Robot and human mediating joint intention about cleaning the house committed to their own private goals (we-
intention in i-mode).
Sentence Speech act Action frame
H Hi, Can you help me with cleaning the house now? Greeting and Question clean robot0 human0 house now
R Yes sure! What would you like me to do? Accept
H I would like you to dust the surfaces dust,vacuum robot0
and vacuum floors of the living room and guest room, Offer room0 living room1 guest
while.
R Yes sure! Accept
R I will clean the living and guest room. Offer
H Thanks, that would be great. Accept
R No problem! GoodBye
man’s expectations.
We proposed the formalization of the architec-
ture, together with an illustrative example showing its
function in a simple scenario where human and robot
mediate the task of bringing the human medications.
Future work will conduct Human Robot Interaction
(HRI) studies to evaluate the proposed architecture.
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