I had the opportunity to chair the very interesting Communication & Perception session for the RAIN HRI Workshop. In addition to my small introduction about the meaning of Communication and Perception for HRI in nuclear, the session had presentations from Professor Helen Hastie (Heriot-Watt University), Professor Sandor Veres (University of Sheffield) and Ben Chaudhri (Createc robotics) and an interesting discussion about the role of HRI and its challenges in the nuclear industry.