Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic

Predicting continuous conflict perception with Bayesian Gaussian processes

Conflict is one of the most important phenomena of social life, but it is still largely neglected by the computing community. This work proposes an approach that detects common conversational social signals (loudness, overlapping speech, etc.) and predicts the conflict level perceived by human observers in continuous, non-categorical terms. The proposed regression approach is fully Bayesian and it adopts Automatic Relevance Determination to identify the social signals that influence most the outcome of the prediction. The experiments are performed over the SSPNet Conflict Corpus, a publicly available collection of 1430 clips extracted from televised political debates (roughly 12 hours of material for 138 subjects in total). The results show that it is possible to achieve a correlation close to 0.8 between actual and predicted conflict perception

Personalized face and gesture analysis using hierarchical neural networks

The video-based computational analyses of human face and gesture signals encompass a myriad of challenging research problems involving computer vision, machine learning and human computer interaction. In this thesis, we focus on the following challenges: a) the classification of hand and body gestures along with the temporal localization of their occurrence in a continuous stream, b) the recognition of facial expressivity levels in people with Parkinson's Disease using multimodal feature representations, c) the prediction of student learning outcomes in intelligent tutoring systems using affect signals, and d) the personalization of machine learning models, which can adapt to subject and group-specific nuances in facial and gestural behavior. Specifically, we first conduct a quantitative comparison of two approaches to the problem of segmenting and classifying gestures on two benchmark gesture datasets: a method that simultaneously segments and classifies gestures versus a cascaded method that performs the tasks sequentially. Second, we introduce a framework that computationally predicts an accurate score for facial expressivity and validate it on a dataset of interview videos of people with Parkinson's disease. Third, based on a unique dataset of videos of students interacting with MathSpring, an intelligent tutoring system, collected by our collaborative research team, we build models to predict learning outcomes from their facial affect signals. Finally, we propose a novel solution to a relatively unexplored area in automatic face and gesture analysis research: personalization of models to individuals and groups. We develop hierarchical Bayesian neural networks to overcome the challenges posed by group or subject-specific variations in face and gesture signals. We successfully validate our formulation on the problems of personalized subject-specific gesture classification, context-specific facial expressivity recognition and student-specific learning outcome prediction. We demonstrate the flexibility of our hierarchical framework by validating the utility of both fully connected and recurrent neural architectures

Semi-supervised Deep Generative Modelling of Incomplete Multi-Modality Emotional Data

There are threefold challenges in emotion recognition. First, it is difficult to recognize human's emotional states only considering a single modality. Second, it is expensive to manually annotate the emotional data. Third, emotional data often suffers from missing modalities due to unforeseeable sensor malfunction or configuration issues. In this paper, we address all these problems under a novel multi-view deep generative framework. Specifically, we propose to model the statistical relationships of multi-modality emotional data using multiple modality-specific generative networks with a shared latent space. By imposing a Gaussian mixture assumption on the posterior approximation of the shared latent variables, our framework can learn the joint deep representation from multiple modalities and evaluate the importance of each modality simultaneously. To solve the labeled-data-scarcity problem, we extend our multi-view model to semi-supervised learning scenario by casting the semi-supervised classification problem as a specialized missing data imputation task. To address the missing-modality problem, we further extend our semi-supervised multi-view model to deal with incomplete data, where a missing view is treated as a latent variable and integrated out during inference. This way, the proposed overall framework can utilize all available (both labeled and unlabeled, as well as both complete and incomplete) data to improve its generalization ability. The experiments conducted on two real multi-modal emotion datasets demonstrated the superiority of our framework.Comment: arXiv admin note: text overlap with arXiv:1704.07548, 2018 ACM Multimedia Conference (MM'18

An original framework for understanding human actions and body language by using deep neural networks

The evolution of both fields of Computer Vision (CV) and Artificial Neural Networks (ANNs) has allowed the development of efficient automatic systems for the analysis of people's behaviour. By studying hand movements it is possible to recognize gestures, often used by people to communicate information in a non-verbal way. These gestures can also be used to control or interact with devices without physically touching them. In particular, sign language and semaphoric hand gestures are the two foremost areas of interest due to their importance in Human-Human Communication (HHC) and Human-Computer Interaction (HCI), respectively. While the processing of body movements play a key role in the action recognition and affective computing fields. The former is essential to understand how people act in an environment, while the latter tries to interpret people's emotions based on their poses and movements; both are essential tasks in many computer vision applications, including event recognition, and video surveillance. In this Ph.D. thesis, an original framework for understanding Actions and body language is presented. The framework is composed of three main modules: in the first one, a Long Short Term Memory Recurrent Neural Networks (LSTM-RNNs) based method for the Recognition of Sign Language and Semaphoric Hand Gestures is proposed; the second module presents a solution based on 2D skeleton and two-branch stacked LSTM-RNNs for action recognition in video sequences; finally, in the last module, a solution for basic non-acted emotion recognition by using 3D skeleton and Deep Neural Networks (DNNs) is provided. The performances of RNN-LSTMs are explored in depth, due to their ability to model the long term contextual information of temporal sequences, making them suitable for analysing body movements. All the modules were tested by using challenging datasets, well known in the state of the art, showing remarkable results compared to the current literature methods

Infinite Hidden Conditional Random Fields for the Recognition of Human Behaviour

While detecting and interpreting temporal patterns of nonverbal behavioral cues in a given context is a natural and often unconscious process for humans, it remains a rather difficult task for computer systems. In this thesis we are primarily motivated by the problem of recognizing expressions of high--level behavior, and specifically agreement and disagreement. We thoroughly dissect the problem by surveying the nonverbal behavioral cues that could be present during displays of agreement and disagreement; we discuss a number of methods that could be used or adapted to detect these suggested cues; we list some publicly available databases these tools could be trained on for the analysis of spontaneous, audiovisual instances of agreement and disagreement, we examine the few existing attempts at agreement and disagreement classification, and we discuss the challenges in automatically detecting agreement and disagreement. We present experiments that show that an existing discriminative graphical model, the Hidden Conditional Random Field (HCRF) is the best performing on this task. The HCRF is a discriminative latent variable model which has been previously shown to successfully learn the hidden structure of a given classification problem (provided an appropriate validation of the number of hidden states). We show here that HCRFs are also able to capture what makes each of these social attitudes unique. We present an efficient technique to analyze the concepts learned by the HCRF model and show that these coincide with the findings from social psychology regarding which cues are most prevalent in agreement and disagreement. Our experiments are performed on a spontaneous expressions dataset curated from real televised debates. The HCRF model outperforms conventional approaches such as Hidden Markov Models and Support Vector Machines. Subsequently, we examine existing graphical models that use Bayesian nonparametrics to have a countably infinite number of hidden states and adapt their complexity to the data at hand. We identify a gap in the literature that is the lack of a discriminative such graphical model and we present our suggestion for the first such model: an HCRF with an infinite number of hidden states, the Infinite Hidden Conditional Random Field (IHCRF). In summary, the IHCRF is an undirected discriminative graphical model for sequence classification and uses a countably infinite number of hidden states. We present two variants of this model. The first is a fully nonparametric model that relies on Hierarchical Dirichlet Processes and a Markov Chain Monte Carlo inference approach. The second is a semi--parametric model that uses Dirichlet Process Mixtures and relies on a mean--field variational inference approach. We show that both models are able to converge to a correct number of represented hidden states, and perform as well as the best finite HCRFs ---chosen via cross--validation--- for the difficult tasks of recognizing instances of agreement, disagreement, and pain in audiovisual sequences.Open Acces