A computer-implemented method for interacting with a user while assisting the user, the method comprising: capturing a first input that indicates one or more behaviors associated with the user; determining a first emotional state of the user based on the first input; generating a first vocalization that incorporates a first emotional component based on the first emotional state, wherein the first vocalization relates to a first operation that is being performed to assist the user; outputting the first vocalization to the user; generating the first emotional component based on the first emotional state and a response mapping that translates emotional states to emotional components; capturing a second input that indicates at least one behavior the user performs in response to the output; and modifying the response mapping based on the second input and a first objective function that is evaluated to determine how closely the at least one behavior corresponds to a target behavior, wherein the step of determining the first emotional state of the user further comprises: determining a first valence value based on the first input that indicates a location within a spectrum of emotion types; and determining a first intensity value based on the first input that indicates a location within a range of intensities corresponding to the location within the spectrum of emotion types, and wherein the first emotional component corresponds to at least one of a second valence value or a second intensity value that differs from the first emotional state or wherein the first emotional component corresponds to the first valence value and the first intensity value. capturing a first input that indicates one or more behaviors associated with the user; determining a first emotional state of the user based on the first input; generating a first vocalization that incorporates a first emotional component based on the first emotional state, wherein the first vocalization relates to a first operation that is being performed to assist the user; outputting the first vocalization to the user; generating the first emotional component based on the first emotional state and a response mapping that translates emotional states to emotional components; capturing a second input that indicates at least one behavior the user performs in response to the output; and modifying the response mapping based on the second input and a first objective function that is evaluated to determine how closely the at least one behavior corresponds to a target behavior, wherein the step of determining the first emotional state of the user further comprises: determining a first valence value based on the first input that indicates a location within a spectrum of emotion types; and determining a first intensity value based on the first input that indicates a location within a range of intensities corresponding to the location within the spectrum of emotion types, and determining a first valence value based on the first input that indicates a location within a spectrum of emotion types; and determining a first intensity value based on the first input that indicates a location within a range of intensities corresponding to the location within the spectrum of emotion types, and wherein the first emotional component corresponds to at least one of a second valence value or a second intensity value that differs from the first emotional state or wherein the first emotional component corresponds to the first valence value and the first intensity value. <EOS>