It looks like additional functionality from the pipeline input steps plugin was added to the hubot-steps plugin in JENKINS-44401, but the parameters functionality was left out due to issues with its serializability.
PR: https://github.com/jenkinsci/hubot-steps-plugin/pull/26
Released with 2.0.5 https://github.com/jenkinsci/hubot-steps-plugin/releases/tag/hubot-steps-2.0.5