I tried to shorten it and removed the model figure
Merge julia's changes
Re-extended the paper

...taking into account Julia's changes.
Imported some sections from the defunct HRI full-paper on anthrop.
i refine the article, rather minor things, also included the missing bibtex items in the bib
ok, i did something wrong the last time so i try to commit and push the refined version again
added one more missing reference, final refinements