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Extending prior work that primarily focused on direct human\u2013robot interactions, this study addresses the understudied context of incidental encounters, which are brief, unplanned interactions between bystanders and autonomous robots in public environments. In an online video\u2010based study with 385 participants using a within\u2010subject design, we found that both verbal and body language behaviours significantly improved the robot's perceived social intelligence (PSI), which in turn positively correlated with human compliance. Verbal communication alone increased compliance likelihood more than body language, and combining both yielded the highest PSI ratings and compliance scores. To validate these findings beyond controlled video scenarios, a follow\u2010up real\u2010world study with 26 participants replicated the results: 11 out of 13 of participants complied in the Body Language + Verbal condition versus only 1 in the baseline condition. Free\u2010text responses revealed the importance of clearly stated intentions, politeness, and concerns about robot legitimacy and safety. Together, these findings highlight the critical role of perceived social intelligence in fostering human assistance for robots during incidental encounters and offer design strategies to support robot deployment in public environments.<\/jats:p>","DOI":"10.1111\/exsy.70332","type":"journal-article","created":{"date-parts":[[2026,7,6]],"date-time":"2026-07-06T08:26:38Z","timestamp":1783326398000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Perceived Social Intelligence and Human Compliance in Incidental Human\u2013Robot Encounters"],"prefix":"10.1111","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3484-8451","authenticated-orcid":false,"given":"Yao\u2010Cheng","family":"Chan","sequence":"first","affiliation":[{"name":"School of Information The University of Texas at Austin  Austin Texas USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2547-0952","authenticated-orcid":false,"given":"Elliott","family":"Hauser","sequence":"additional","affiliation":[{"name":"School of Information The University of Texas at Austin  Austin Texas USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sadanand","family":"Modak","sequence":"additional","affiliation":[{"name":"Department of Computer Science The University of Texas at Austin  Austin Texas USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joydeep","family":"Biswas","sequence":"additional","affiliation":[{"name":"Department of Computer Science The University of Texas at Austin  Austin Texas USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Justin","family":"Hart","sequence":"additional","affiliation":[{"name":"Department of Computer Science The University of Texas at Austin  Austin Texas USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,7,6]]},"reference":[{"key":"e_1_2_12_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-020-00642-z"},{"key":"e_1_2_12_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-020-00675-4"},{"key":"e_1_2_12_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-020-00720-2"},{"key":"e_1_2_12_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/HRI53351.2022.9889492"},{"key":"e_1_2_12_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-022-00894-x"},{"key":"e_1_2_12_7_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.591448"},{"key":"e_1_2_12_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/ARSO.2018.8625721"},{"key":"e_1_2_12_9_1","doi-asserted-by":"publisher","DOI":"10.1111\/exsy.12098"},{"key":"e_1_2_12_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/3415139"},{"key":"e_1_2_12_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-008-0001-3"},{"key":"e_1_2_12_12_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2022.733504"},{"key":"e_1_2_12_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020211"},{"key":"e_1_2_12_14_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2012.00003"},{"key":"e_1_2_12_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-019-00593-0"},{"key":"e_1_2_12_16_1","doi-asserted-by":"publisher","DOI":"10.2307\/25750690"},{"key":"e_1_2_12_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/HRI61500.2025.10973844"},{"key":"e_1_2_12_18_1","unstructured":"Chan Y. 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