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RoboCafé in the Open: Interaction Continuity in Long-Term Public Human-Robot Interaction

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

As robots remain in public spaces over extended periods, they must maintain interaction continuity by preserving and correctly applying context as people, encounters, and circumstances change. To study interaction continuity in long-term public human-robot interactions, we developed RoboCafé, an autonomous conversational coffee robot designed to support repeated interactions through task-aware dialogue, real-time multimodal perception, and memory of prior encounters. We deployed RoboCafé for 12 days in a university building, where it received 148 orders. The deployment involved repeat customer

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