1. A method executed by a processor in a mobile robotic device, the method comprising: receiving a first signal output by a first sensor, the first signal indicating that a human is in an environment of the mobile robotic device, wherein the mobile robotic device is tasked with causing the human to engage with the mobile robotic device; receiving a second signal output by a second sensor, the second signal being indicative of a first condition pertaining to the mobile robotic device, the first condition being subject to control by the mobile robotic device, and the first condition identified as being relevant to causing the human to engage with the mobile robotic device; identifying an action to be undertaken by the mobile robotic device, the action identified to facilitate causing the human to engage with the mobile robotic device, the action identified based upon the first signal output by the first sensor, the second signal output by the second sensor, and past successes and failures of the mobile robotic device when attempting to cause other humans to engage with the mobile robotic device in the environment, wherein the action is further identified based upon the mobile robotic device tuning its operation over time with respect to the first condition to optimize a probability that the mobile robotic device will cause the human to engage with the mobile robotic device; and transmitting a signal to an actuator of the mobile robotic device to cause the mobile robotic device to perform the action.