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Human perceptions and behavior are determined, in part, by expectations. Given the impact of expectations on behavior, it is important to understand what expectations individuals bring into HRI settings and how those expectations may affect their interactions with the robot over time. For many people, social robots are not a common part of their experiences, thus any expectations they have of social robots are likely shaped by other sources. As a result, individual expectations coming into HRI settings may be highly variable. Although there has been some recent interest in expectations within the field, there is an overall lack of empirical investigation into its impacts on HRI, especially in-person robot interactions. To this end, a within-subject in-person study (<jats:inline-formula><jats:alternatives><jats:tex-math>$$N=31$$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                  <mml:mrow>\n                    <mml:mi>N<\/mml:mi>\n                    <mml:mo>=<\/mml:mo>\n                    <mml:mn>31<\/mml:mn>\n                  <\/mml:mrow>\n                <\/mml:math><\/jats:alternatives><\/jats:inline-formula>) was performed where participants were instructed to engage in open conversation with the social robot Pepper during two 2.5\u00a0min sessions. The robot was equipped with a custom dialogue system based on the GPT-3 large language model, allowing autonomous responses to verbal input. Participants\u2019 affective changes towards the robot were assessed using three questionnaires, NARS, RAS, commonly used in HRI studies, and Closeness, based on the IOS scale. In addition to the three standard questionnaires, a custom question was administered to capture participants\u2019 views on robot capabilities. All measures were collected three times, before the interaction with the robot, after the first interaction with the robot, and after the second interaction with the robot. Results revealed that participants to large degrees stayed with the expectations they had coming into the study, and in contrast to our hypothesis, none of the measured scales moved towards a common mean. Moreover, previous experience with robots was revealed to be a major factor of how participants experienced the robot in the study. These results could be interpreted as implying that expectations of robots are to large degrees decided before interactions with the robot, and that these expectations do not necessarily change as a result of the interaction. Results reveal a strong connection to how expectations are studied in social psychology and human-human interaction, underpinning its relevance for HRI research.<\/jats:p>","DOI":"10.1007\/s12369-024-01107-3","type":"journal-article","created":{"date-parts":[[2024,2,29]],"date-time":"2024-02-29T08:03:22Z","timestamp":1709193802000},"page":"447-460","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["Previous Experience Matters: An in-Person Investigation of Expectations in Human\u2013Robot Interaction"],"prefix":"10.1007","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8642-336X","authenticated-orcid":false,"given":"Julia","family":"Ros\u00e9n","sequence":"first","affiliation":[]},{"given":"Jessica","family":"Lindblom","sequence":"additional","affiliation":[]},{"given":"Maurice","family":"Lamb","sequence":"additional","affiliation":[]},{"given":"Erik","family":"Billing","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,2,29]]},"reference":[{"key":"1107_CR1","first-page":"211","volume-title":"Social psychology: handbook of basic processes","author":"JM Olson","year":"1996","unstructured":"Olson JM, Roese NJ, Zanna MP (1996) Expectancies. 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The contents of the manuscript have been unanimously agreed by all co-authors. We certify that the submission is original work and not submitted for consideration elsewhere.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This study involved human participants. Written consent was taken from all participants. The study was conducted in accordance with the Declaration of Helsinki and was submitted for ethical review to the The Swedish Ethical Review Authority (#2022-02582-01, Link\u00f6ping) and was found to not require ethical review under Swedish legislation (2003:615).","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}}]}}