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Although many empirical studies have addressed facilitating self-regulation, few have examined supporting learners’ engagement in socially shared regulation of learning (SSRL). In this study, we designed a learning environment supported by robot agents to facilitate SSRL. In reference to previous studies on PC agent-based support of self-regulated learning, we designed adaptive-scaffolding scripts and the robot agent’s physical embodiment. Twenty-five university students in a teacher certification program participated in a learning session where they worked collaboratively to comprehend multiple documents under two different conditions: adaptive scaffolding or no scaffolding. We found that using adaptive scripts conveyed by robots effectively fostered collaborative construction of argumentation in discourse and that subsequent use of understanding was significantly better under the adaptive-scaffolding condition.