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Endowing a companion robot with cognitive abilities to recognize human daily activities, in particular from body skeletons information, is a significant challenge, which needs complex and novel approaches. Recently, most of the proposed approaches exploit the hand-crafted features or the predefined traversal rules techniques to recognize human daily activities from skeleton information, which often lead to the deficit of robustness and generalization. In this work, a novel hybrid framework for human activity-aware robotic system is proposed. In the low-level, a novel Spatio-Temporal Joint based Convolutional Neural Network (STJ-CNN) is proposed to recognize human daily activities in the ambient environments. In the high-level, novel representation and inference services based on Narrative Knowledge Representation Language (NKRL) are proposed to represent and combine the detected human activities with the …