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Human interaction is highly intuitive: we infer reactions of our opponents mainly from what we have learned in years of experience and often assume that other people have the same knowledge about certain situations, abilities, and expectations as we do. In human-robot interaction (HRI) we cannot take for granted that this is equally true since HRI is asymmetrical. In other words, robots have different abilities, knowledge, and expectations than humans. They need to react appropriately to human expectations and behaviour. With this respect, scientific advances have been made to date for applications in entertainment and service robotics that largely depend on intuitive interaction. However, HRI today is often still unnatural, slow, and unsatisfactory for the human interlocutor. Both the sensorimotor interaction with environment and interlocutor, and the social aspects of the interaction still need to be researched and improved. Therefore, this full-day workshop aims to bring together researchers from different scientific fields to discuss these crosscutting issues and to exchange views on what are the preconditions and principles of intuitive interaction.