This is a relatively low-key version of an icebreaker compared to those I used in my RA years (2 Truths and A Lie, anyone?). I simply ask my students to take some time to introduce themselves to those around them. A bit of movement around the room also gets their blood flowing a bit before I bog them down with syllabus information. If you're curious about how I go about discussing the syllabus, I've posted my entire slide set from Sylly Week below. Feel free to borrow ideas for your classes if you'd like :)
It also helps to show the students that you're human like they are. I remember thinking in elementary school that the teachers never left their classrooms, that they probably had some kind of inflatable mattress stowed in the closet so they could sleep there and everything. Obviously I thought that less and less as I grew older, but there's always a chance that the students could mentally put their instructor up on this teaching pedestal, isn't there? It'd be a bit weird if they did it physically I guess... But to achieve this, I share a chart of my student evaluations from the previous year's surveys. I like to tell my students that it's alright to point out my imperfections by displaying them up front, and that constructive criticism will help me be a better teacher for them. Hopefully, this brings me down off of that pedestal in their minds but maintains the blossoming professional relationship within the lab.