This work investigates generative facial expression interfaces for intelligent agents from a meta-design perspective. We propose the Generative Personalized Facial Expression Interface (GPFEI) framework, which organizes rule-bounded spaces, character identity, and context–expression mapping to address challenges of control, coherence, and alignment in run-time facial expression generation. To operationalize this framework, we developed GenFaceUI, a proof-of-concept tool that enables designers to create templates, apply semantic tags, define rules, and iteratively test outcomes. We evaluated the tool through a qualitative study with twelve designers. The results show perceived gains in controllability and consistency, while revealing needs for structured visual mechanisms and lightweight explanations. These findings provide a conceptual framework, a proof-of-concept tool, and empirical insights that highlight both opportunities and challenges for advancing generative facial expression interfaces within a broader meta-design paradigm.

This work investigates the integration of generative visual aids in human-robot task communication. We developed GenComUI, a system powered by large language models that dynamically generates contextual visual aids (such as map annotations, path indicators, and animations) to support verbal task communication and facilitate the generation of customized task programs for the robot. This system was informed by a formative study that examined how humans use external visual tools to assist verbal communication in spatial tasks. To evaluate its effectiveness, we conducted a user experiment (n = 20) comparing GenComUI with a voice-only baseline. The results demonstrate that generative visual aids, through both qualitative and quantitative analysis, enhance verbal task communication by providing continuous visual feedback, thus promoting natural and effective human-robot communication. Additionally, the study offers a set of design implications, emphasizing how dynamically generated visual aids can serve as an effective communication medium in human-robot interaction. These findings underscore the potential of generative visual aids to inform the design of more intuitive and effective human-robot communication, particularly for complex communication scenarios in human-robot interaction and LLM-based end-user development.

Metacognition has been recognized as a crucial factor in enhancing human learning and problem-solving capabilities. While robots can serve as assistive mediators to improve human metacognition in specific tasks, existing research lacks a comprehensive framework for implementing metacognitive theories in human-robot interaction design. In addressing that, we propose a two-level state-based framework that integrates metacognition regulation cycle with specific intervention strategies. Through analyzing metacognitive theories, we present a hierarchical structure where Level 1 states represent the metacognition cycle and Level 2 states provide strategic interventions. Our work bridges the gap between metacognitive theory and human-robot interaction design, contributing a flexible approach for developing metacognition-enhanced robotic interfaces.

End-user development allows everyday users to tailor service robots or applications to their needs. One user-friendly approach is natural language programming. However, it encounters challenges such as an expansive user expression space and limited support for debugging and editing, which restrict its application in end-user programming. The emergence of large language models (LLMs) offers promising avenues for the translation and interpretation between human language instructions and the code executed by robots, but their application in end-user programming systems requires further study. We introduce Cocobo, a natural language programming system with interactive diagrams powered by LLMs. Cocobo employs LLMs to understand users’ authoring intentions, generate and explain robot programs, and facilitate the conversion between executable code and flowchart representations. Our user study shows that Cocobo has a low learning curve, enabling even users with zero coding experience to customize robot programs successfully.