The ACM/IEEE International Conference on Human-Robot Interaction (HRI) is the premier venue for innovations on human-robot interaction. Sponsored by the ACM special interest groups on computer-human interaction (SIGCHI) and artificial intelligence (SIGAI) as well as the IEEE robotics and automation society (RAS), HRI brings together researchers spanning robotics, human-computer interaction, human factors, artificial intelligence, engineering, and social and behavioral sciences. The theme of the 21st edition of HRI is HRI Empowering Society.