15,613 research outputs found
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
Robust Modeling of Epistemic Mental States
This work identifies and advances some research challenges in the analysis of
facial features and their temporal dynamics with epistemic mental states in
dyadic conversations. Epistemic states are: Agreement, Concentration,
Thoughtful, Certain, and Interest. In this paper, we perform a number of
statistical analyses and simulations to identify the relationship between
facial features and epistemic states. Non-linear relations are found to be more
prevalent, while temporal features derived from original facial features have
demonstrated a strong correlation with intensity changes. Then, we propose a
novel prediction framework that takes facial features and their nonlinear
relation scores as input and predict different epistemic states in videos. The
prediction of epistemic states is boosted when the classification of emotion
changing regions such as rising, falling, or steady-state are incorporated with
the temporal features. The proposed predictive models can predict the epistemic
states with significantly improved accuracy: correlation coefficient (CoERR)
for Agreement is 0.827, for Concentration 0.901, for Thoughtful 0.794, for
Certain 0.854, and for Interest 0.913.Comment: Accepted for Publication in Multimedia Tools and Application, Special
Issue: Socio-Affective Technologie
Speech-Gesture Mapping and Engagement Evaluation in Human Robot Interaction
A robot needs contextual awareness, effective speech production and
complementing non-verbal gestures for successful communication in society. In
this paper, we present our end-to-end system that tries to enhance the
effectiveness of non-verbal gestures. For achieving this, we identified
prominently used gestures in performances by TED speakers and mapped them to
their corresponding speech context and modulated speech based upon the
attention of the listener. The proposed method utilized Convolutional Pose
Machine [4] to detect the human gesture. Dominant gestures of TED speakers were
used for learning the gesture-to-speech mapping. The speeches by them were used
for training the model. We also evaluated the engagement of the robot with
people by conducting a social survey. The effectiveness of the performance was
monitored by the robot and it self-improvised its speech pattern on the basis
of the attention level of the audience, which was calculated using visual
feedback from the camera. The effectiveness of interaction as well as the
decisions made during improvisation was further evaluated based on the
head-pose detection and interaction survey.Comment: 8 pages, 9 figures, Under review in IRC 201
A Review of Verbal and Non-Verbal Human-Robot Interactive Communication
In this paper, an overview of human-robot interactive communication is
presented, covering verbal as well as non-verbal aspects of human-robot
interaction. Following a historical introduction, and motivation towards fluid
human-robot communication, ten desiderata are proposed, which provide an
organizational axis both of recent as well as of future research on human-robot
communication. Then, the ten desiderata are examined in detail, culminating to
a unifying discussion, and a forward-looking conclusion
Analyzing Input and Output Representations for Speech-Driven Gesture Generation
This paper presents a novel framework for automatic speech-driven gesture
generation, applicable to human-agent interaction including both virtual agents
and robots. Specifically, we extend recent deep-learning-based, data-driven
methods for speech-driven gesture generation by incorporating representation
learning. Our model takes speech as input and produces gestures as output, in
the form of a sequence of 3D coordinates. Our approach consists of two steps.
First, we learn a lower-dimensional representation of human motion using a
denoising autoencoder neural network, consisting of a motion encoder MotionE
and a motion decoder MotionD. The learned representation preserves the most
important aspects of the human pose variation while removing less relevant
variation. Second, we train a novel encoder network SpeechE to map from speech
to a corresponding motion representation with reduced dimensionality. At test
time, the speech encoder and the motion decoder networks are combined: SpeechE
predicts motion representations based on a given speech signal and MotionD then
decodes these representations to produce motion sequences. We evaluate
different representation sizes in order to find the most effective
dimensionality for the representation. We also evaluate the effects of using
different speech features as input to the model. We find that mel-frequency
cepstral coefficients (MFCCs), alone or combined with prosodic features,
perform the best. The results of a subsequent user study confirm the benefits
of the representation learning.Comment: Accepted at IVA '19. Shorter version published at AAMAS '19. The code
is available at
https://github.com/GestureGeneration/Speech_driven_gesture_generation_with_autoencode
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