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d’interaction:
Philippe Gaussier
* Neurocybernetics Group, Cergy Pontoise University, France
Our approach…
Find a minimal model justified by strong theoretical arguments:
Interaction et apprentissage:
Un modèle sensori-moteur minimaliste
Développement autonome
En général : robot dans son environnement physique
• Contrôle moteur : le bras ,
les roues,etc. Quel espace
de travail ?
• Quelles informations
traiter ? fusion ?
• Référentiel ?
• Dynamique du système ?
mouvements du bras, de la
tête ?
•Comment Apprendre de
l’autre ? Démonstration,
observation, imitation..
8
Développement autonome
Avec un humain ? (STREP FEELIX growing)
[IROS 07,
IEEE SMC 09]
• Reinforcement learning:
– Internal signals equivalent to pain and pleasure
– If delayed reward: TD(lambda), Qlearning…
• [Giovannangeli05,06]
30/03/2009 14
Motivational bias
2eme partie
[IROS 07,
IEEE SMC 09]
[Applied AI 98,
Adapt. Behav 04,
ICANN 07]
[Applied AI 98,
Adapt. Behav 04,
ICANN 07]
•capacité à se synchroniser
/ détection de la synchronie
Le démonstrateur controle
l’interaction :
Différent niveaux:
- turn taking
- role switching
“Volonté” d’interaction:
• un simple oscillateur interne?
• La prop. émergente d’un RN ?
Emotional value of interactions
Inspiration from mother-baby face to face interactions:
• [Giovannangeli05,06]
30/03/2009 33
Example: behavior selection
(L. Canamero)
Carrots … Eat !!
1 ...
reactive system
2 ...
I am starving … Where
had I seen those carrots?
motivated system
3 !!
I am starving, but
this might not be the
right moment!!!
emotional system
Some problems in robotics…
• Management of goals/motivations:
– How to change motivations’ priorities?
– “Weighting” motivations; emergency situations
• “Loops” – repetitive and inefficient behavior:
– How to detect and avoid them?
• Management of autonomy and learning:
– Deciding what (not) to learn
– How to guide learning?
• Memory (recall):
– Too global: cognitive overload, too long recall times
– Need for selective recall (e.g., mood-congruent)
(L. Canamero)
Why emotions should interest roboticists…
• Adaptive mechanisms
– To deal with important events related to survival (LeDoux)
– Internal equilibrium, contribution to homeostasis
– Control of interactions with (physical and social) environment
• Motivate and guide action
– Categorize events as pleasant/unpleasant
– Amplify/modify motivation
– Decision making and social interactions (Damasio)
• Value as signals
– Social reference (assess situation from others’ emotions)
– Communication
– Construction of inter-subjectivity (image of self and other)
¾ Dual aspect, connecting “inner world” and “external”
behavior
(L. Canamero)
Creatures’ architecture
stimuli Perception
internal milieu
controlled variables,
emotions “hormones”
(fear, anger,
Control
happiness, sadness,
boredom, interest)
environment motivations
(hunger, thirst,
fatigue, protection, ...)
behaviors
(walk, withdraw, eat,
drink, attack, ...
go-toward, look-for ...)
activity Action
(L. Canamero)
Is this enough to deal with others?
(L. Canamero)
4th part
happy
disgust Positive
surprise valence
anger stern
High Closed
arousal stance
Sophisticated communicative/emotional robots
• Infanoid
• (I. Kozima)
Complexity: caricature or portrait?
+ “healthy” people
100%
Emot. reaction, familiarity
toy robot
uncanny
valley
-
0 Similarity to human 100%
moving corpse
Feelix, a simple “humanoid”
(Lola Canamero )
Development of facial expression recognition
GOAL: Understanding how babies learn to recognize facial expressions without having a teaching signal
allowing to associate for instance an “happy face” with their own internal emotional state of happiness
is a big challenge in a developmental perspective [Gergely99].
[Boucenna08]
Starting from a Mathematical Model
• Cognitive System Formalism [Gaussier01] to study baby / parent
interations.
Limitation:
NO on-line and autonomous learning
because the face / non-face
recognition need an external
teaching signal (supervision)!
Approche fonctionnelle “classique”
vs approche developpementale holistique
Approche classique:
• Trouver le visage dans l’image…
No locus
“appraisal”
for the “emotional states”?