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In this paper we present a fully autonomous and intrinsically motivated robotusable for HRI experiments. We argue that an intrinsically motivated approachbased on the Predictive Information formalism, like the one presented here,could provide us with a pathway towards autonomous robot behaviour generation,that is capable of producing behaviour interesting enough for sustaining theinteraction with humans and without the need for a human operator in the loop.We present a possible reactive baseline behaviour for comparison for futureresearch. Participants perceive the baseline and the adaptive, intrinsicallymotivated behaviour differently. In our exploratory study we see evidence thatparticipants perceive an intrinsically motivated robot as less intelligent thanthe reactive baseline behaviour. We argue that is mostly due to the highadaptation rate chosen and the design of the environment. However, we also seethat the adaptive robot is perceived as more warm, a factor which carries moreweight in interpersonal interaction than competence.

Intrinsically Motivated Autonomy in Human-Robot Interaction: Human Perception of Predictive Information in Robots