Abstract: A robot operating in an environment provides cues to users. These cues provide information to the user as to operation of the robot. Some cues may involve physical movement of at least a portion of the robot. For example, as the robot passes a user, the robot may tilt a display head up and down to simulate a nodding motion. The cues may comprise one or more motions of one or more parts of the robot. The cues may also comprise visual output, such as graphics, pictures, text, and so forth, being presented on a display device of the robot, or changing the color or brightness of a light. In some implementations, the cues may include audio output, such as sounds.