The development and use of Artificial Intelligence (AI) poses complex socio-scientific issues, particularly with regard to ethics and privacy. There is a need to engage communities in research and innovation around emerging technologies in order to ensure responsible development of AI and leverage its potential for good. We examine two examples of initiatives designed to engage citizens and researchers in dialogue and knowledge exchange around emerging AI research and innovation (R&I): Citizens’ Think-Ins on AI in Ireland and open forums on AI prototype experimentation and discussion in Spain. We conclude that there is demonstrable value in such engagement initiatives for citizens and researchers alike to ensure that inclusive, resilient and sustainable communities thrive in the Age of AI.