Well over 60 of us gathered in Hoofddorp for a two day meeting, including an overnight stay. The first day was devoted to our current research: we took stock of our progress by matching the current status of our projects against the capability tables we defined for ourselves in our project proposal, and we had two talks on Theory of Mind and on child-robot interaction.  The second day was devoted to use-cases (including very exciting plans for a robotic surgery assistant and life-style management for diabetes patients), and we looked towards the future: what new research clusters are emerging, and how can these be used to organise the 20 new PhD/PD projects we will be launching in early 2023.