Robots show up frequently in new applications in our daily lives where they interact more and more closely with the human user. Despite a long history of research, existing cognitive architectures are still too generic and hence not tailored enough to meet the specific needs demanded by social HRI. In particular, interaction-oriented architectures require handling emotions, language, social norms, etc, which is quite a handful. In this paper, we present an overview of a Cognitive and Affective Interaction-Oriented Architecture for social human-robot interactions abbreviated CAIO. This architecture is parallel to the BDI (Belief, Desire, Intention) architecture that comes from philosophy of actions by Bratman. CAIO integrates complex emotions and planning techniques. It aims to contribute to cognitive architectures for HRI by enabling the robot to reason on mental states (including emotions) of the interlocutors, and to act physically, emotionally and verbally.