Sociable Robots Peeping into the Human World

Transcription

1 Sociable Robots Peeping into the Human World

2 An Infant s Advantages Non-hostile environment Actively benevolent, empathic caregiver Co-exists with mature version of self

3 Baby Scheme Physical form can evoke nurturing response Caregiver exaggerates voice, gestures

4 Kismet a Baby Robot

5 Requirements Robot needs to perceive human state Computer vision, speech processing Human needs to perceive robot state Animatronics, speech generation Closed loop interaction requires both directions

6 Readable locus of attention Attention can be deduced from behavior Or can be expressed more directly

7 Expressing locus of attention

8 Computing locus of attention Cyclopean camera Stereo pair

9 Computing locus of attention Visual input Pre-attentive filters Saliency map Pursuit (Cyclopean camera) Primary information flow Modulatory influence Behavior system Eye movement

10 Looking Preference Seek toy low skin gain, high saturated-color gain Looking time 28% face, 72% block Seek face high skin gain, low color saliency gain Looking time 80% face, 20% block Internal influences bias how salience is measured The robot is not a slave to its environment Prefers behaviorally relevant stimuli

11 Example (video)

12 Example (video) Robot s search is taskspecific Still opportunistic when appropriate Visual behavior conveys degree of commitment Gaze direction, expression conveys interest

13 Interpersonal Distance Comfortable interaction distance

14 Interpersonal Distance

15 Interpersonal Distance

16 Interpersonal Distance

17 Interpersonal Distance

18 Examples (video) Back off buster! Come hither, friend Robot backs away if person comes too close Cues person to back away too social amplification Robot makes itself salient to call a person closer if too far away

19 Negotiating object showing Comfortable interaction speed Too fast, Too close threat response Too fast irritation response

20 Example (video)

21 Facial expressions

22 Facial Expressions (Russell, Scott&Smith) arousal angry frustrated displeasure sad surprise afraid elated stress depression excitement happy pleasure neutral sleep calm fatigued bored relaxed sleepy content Emotions can be mapped to affect dimensions (Russell) Facial postures are related in a systematic way to these affective dimensions (Smith & Scott)

23 Generating Posture, Expressions fear Open stance Low arousal Negative valence tired content Positive valence High arousal anger Closed stance

24 Example Facial Expression

25 With Posture (video)

26 Emotive Voice Quality

27 Synthesized Emotive Speech

28 With Vocalizations (video)

29 Is there more to life than being really, really, really, ridiculously good-looking? But

30 Affective Intent (video)

31 Fernald s Results Four cross-cultural contours of infantdirected speech That s a good bo-o-y! pitch, f (khz) o time (ms) approval pitch, f o (khz) No no baby. time (ms) prohibition Exaggerated prosody matched to infant s innate responses pitch, f (khz) o Can you get it? Can you get it? MMMM pitch, f (khz) o Oh, honey. time (ms) attention time (ms) comfort

32 Evidence for Fernald-like Contours Approval Prohibition Attention Soothing

33 Performing Recognition prohibition & high-energy neutral energy variance attention & approval soothing & low-energy neutral pitch mean Breazeal & Aryananda, Humanoids 2000

34 Examples (video)

35 Turn-Taking Cornerstone of human-style communication, learning, and instruction Four phases of turn cycle relinquish floor listen to speaker reacquire floor speak Integrates visual behavior & attention facial expression & animation body posture vocalization & lip synchronization

36 Example (video)

37 Conclusions Robots can partake in infant-caregiver interactions These interactions are rich with scaffolding acts Prerequisite for socially situated learning Kismet s really, really, ridiculously detailed web-pages: