@inproceedings {2010,
	title = {Using the Interaction Rhythm as a Natural Reinforcement Signal for Social Robots: A Matter of Belief},
	booktitle = {Proc. International Conference on Social Robotics, ICSR 2010},
	series = {Lecture Notes in Computer Science},
	volume = {6414},
	year = {2010},
	pages = {81{\textendash}89},
	publisher = {Springer},
	organization = {Springer},
	address = {Singapore},
	abstract = {In this paper, we present the results of a pilot study of a human robot interaction experiment where the rhythm of the interaction is used as a reinforcement signal to learn sensorimotor associations. The algorithm uses breaks and variations in the rhythm at which the human is producing actions. The concept is based on the hypothesis that a constant rhythm is an intrinsic property of a positive interaction whereas a break reflects a negative event. Subjects from various backgrounds interacted with a NAO robot where they had to teach the robot to mirror their actions by learning the correct sensorimotor associations. The results show that in order for the rhythm to be a useful reinforcement signal, the subjects have to be convinced that the robot is an agent with which they can act naturally, using their voice and facial expressions as cues to help it understand the correct behaviour to learn. When the subjects do behave naturally, the rhythm and its variations truly reflects how well the interaction is going and helps the robot learn efficiently. These results mean that non-expert users can interact naturally and fruitfully with an autonomous robot if the interaction is believed to be natural, without any technical knowledge of the cognitive capacities of the robot.},
	isbn = {978-3-642-17247-2},
	doi = {10.1007/978-3-642-17248-9_9},
	author = {Antoine Hiolle and Lola Ca{\~n}amero and Peirre Andry and Arnaud J Blanchard and Philippe Gaussier},
	editor = {Shuzhi Sam Ge and Haizhou Li and John-John Cabibihan and Yeow Kee Tan}
}
@inproceedings {2005,
	title = {Using Visual Velocity Detection to Achieve Synchronization in Imitation},
	booktitle = {Proc. 3rd Int. Symposium on Imitation in Animals and Artifacts},
	year = {2005},
	pages = {26{\textendash}29},
	publisher = {AISB},
	organization = {AISB},
	address = {Hatfield, UK},
	abstract = {Synchronization and coordination are important mechanisms involved in imitation and social interaction. In this paper, we study different methods to improve the reactivity of agents to changes in their environment in different coordination tasks. In a robot synchronization task, we compare the differences between using only position detection or velocity detection. We first test an existing position detection approach, and then we compare the results with those obtained using a novel method that takes advantage of visual detection of velocity. We test and discuss the applicability of these two methods in several coordination scenarios, to conclude by seeing how to combine the advantages of both methods.},
	isbn = {1-902956-42-5},
	url = {https://www.aisb.org.uk/publications/proceedings/aisb2005/3_Imitation_Final.pdf},
	author = {Arnaud J Blanchard and Lola Ca{\~n}amero},
	editor = {Demiris, Y}
}
