Sociable Robots Peeping into the Human World
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8/6/2019 Embodied Kismet
http://slidepdf.com/reader/full/embodied-kismet 1/37
Sociable RobotsPeeping into the Human World
8/6/2019 Embodied Kismet
http://slidepdf.com/reader/full/embodied-kismet 2/37
An Infant’s Advantages
Non-hostile environment
Actively benevolent, empathic caregiver
Co-exists with mature version of self
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Baby Scheme
Physical form can evoke nurturing response
Caregiver exaggerates voice, gestures
8/6/2019 Embodied Kismet
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Kismet – a Baby Robot
8/6/2019 Embodied Kismet
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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
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Attention can be deduced from behavior
Or can be expressed more directly
Readable locus of attention
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Expressing locus of attention
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Computing locus of attention
“Cyclopean” camera Stereo pair
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Computing locus of attention
Visual input Pre-attentive filters Saliency map Pursuit
Eye movementBehavior system
Modulatory influence
Primary information flow
(Cyclopean camera)
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Looking Preference
“Seek face” –high skin gain, low color saliency gain
Looking time 80% face, 20% block
“Seek toy” –low skin gain, high saturated-color gain
Looking time 28% face, 72% block
Internal influences bias how salience is measured
The robot is not a slave to its environment
Prefers behaviorally relevant stimuli
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Example (video)
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Example (video)
Robot’s search is task-
specific
Still opportunistic when
appropriate Visual behavior conveys
degree of commitment
Gaze direction,
expression conveysinterest
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Interpersonal Distance
Comfortableinteraction distance
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Interpersonal Distance
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Interpersonal Distance
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Interpersonal Distance
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Interpersonal Distance
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Examples (video)
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
“Back off buster!”“Come hither, friend”
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Negotiating object showing
Comfortable interaction
speed
Too fast –
irritation response
Too fast,
Too close –threat response
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Example (video)
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Facial expressions
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Negative
valence
Open
stance
Low
arousal
High
arousal
Positive
valence
Closedstance
tired
content
anger
fear
Generating Posture, Expressions
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Example Facial Expression
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With Posture (video)
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Emotive Voice Quality
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Synthesized Emotive Speech
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With Vocalizations (video)
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But…
Is there moreto life thanbeing really,
really, really,ridiculously
good-looking?
8/6/2019 Embodied Kismet
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Affective Intent (video)
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Evidence for Fernald-like Contours
Approval
Prohibition
Attention
Soothing
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Performing Recognition
prohibition &
high-energy neutral
attention & approval
soothing & low-energy neutral
energy
varia
nce
pitch mean
Breazeal & Aryananda, Humanoids 2000
8/6/2019 Embodied Kismet
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Examples (video)
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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
8/6/2019 Embodied Kismet
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Example (video)
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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:
htt // i it d / j t /ki t/
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