Affective Motivational Collaboration Theory

Existing computational theories of collaboration explain some of the important concepts underlying collaboration, e.g., the collaborators\u27 commitments and communication. However, the underlying processes required to dynamically maintain the elements of the collaboration structure are largely unexplained. Our main insight is that in many collaborative situations acknowledging or ignoring a collaborator\u27s affective state can facilitate or impede the progress of the collaboration. This implies that collaborative agents need to employ affect-related processes that (1) use the collaboration structure to evaluate the status of the collaboration, and (2) influence the collaboration structure when required. This thesis develops a new affect-driven computational framework to achieve these objectives and thus empower agents to be better collaborators. Contributions of this thesis are: (1) Affective Motivational Collaboration (AMC) theory, which incorporates appraisal processes into SharedPlans theory. (2) New computational appraisal algorithms based on collaboration structure. (3) Algorithms such as goal management, that use the output of appraisal to maintain collaboration structures. (4) Implementation of a computational system based on AMC theory. (5) Evaluation of AMC theory via two user studies to a) validate our appraisal algorithms, and b) investigate the overall functionality of our framework within an end-to-end system with a human and a robot

From locomotion to cognition: Bridging the gap between reactive and cognitive behavior in a quadruped robot

The cognitivistic paradigm, which states that cognition is a result of computation with symbols that represent the world, has been challenged by many. The opponents have primarily criticized the detachment from direct interaction with the world and pointed to some fundamental problems (for instance the symbol grounding problem). Instead, they emphasized the constitutive role of embodied interaction with the environment. This has motivated the advancement of synthetic methodologies: the phenomenon of interest (cognition) can be studied by building and investigating whole brain-body-environment systems. Our work is centered around a compliant quadruped robot equipped with a multimodal sensory set. In a series of case studies, we investigate the structure of the sensorimotor space that the application of different actions in different environments by the robot brings about. Then, we study how the agent can autonomously abstract the regularities that are induced by the different conditions and use them to improve its behavior. The agent is engaged in path integration, terrain discrimination and gait adaptation, and moving target following tasks. The nature of the tasks forces the robot to leave the ``here-and-now'' time scale of simple reactive stimulus-response behaviors and to learn from its experience, thus creating a ``minimally cognitive'' setting. Solutions to these problems are developed by the agent in a bottom-up fashion. The complete scenarios are then used to illuminate the concepts that are believed to lie at the basis of cognition: sensorimotor contingencies, body schema, and forward internal models. Finally, we discuss how the presented solutions are relevant for applications in robotics, in particular in the area of autonomous model acquisition and adaptation, and, in mobile robots, in dead reckoning and traversability detection

A Developmental Approach to the Study of Affective Bonds for Human-Robot Interaction

Robotics agents are meant to play an increasingly larger role in our everyday lives. To be successfully integrated in our environment, robots will need to develop and display adaptive, robust, and socially suitable behaviours. To tackle these issues, the robotics research community has invested a considerable amount of efforts in modelling robotic architectures inspired by research on living systems, from ethology to developmental psychology. Following a similar approach, this thesis presents the research results of the modelling and experimental testing of robotic architectures based on affective and attachment bonds between young infants and their primary caregiver. I follow a bottom-up approach to the modelling of such bonds, examining how they can promote the situated development of an autonomous robot. Specifically, the models used and the results from the experiments carried out in laboratory settings and with naive users demonstrate the impact such affective bonds have on the learning outcomes of an autonomous robot and on the perception and behaviour of humans. This research leads to the emphasis on the importance of the interplay between the dynamics of the regulatory behaviours performed by a robot and the responsiveness of the human partner. The coupling of such signals and behaviours in an attachment-like dyad determines the nature of the outcomes for the robot, in terms of learning or the satisfaction of other needs. The experiments carried out also demonstrate of the attachment system can help a robot adapt its own social behaviour to that of the human partners, as infants are thought to do during their development

Artificial societies and information theory: modelling of sub system formation based on Luhmann's autopoietic theory

This thesis develops a theoretical framework for the generation of artificial societies. In particular it shows how sub-systems emerge when the agents are able to learn and have the ability to communicate. This novel theoretical framework integrates the autopoietic hypothesis of human societies, formulated originally by the German sociologist Luhmann, with concepts of Shannon's information theory applied to adaptive learning agents. Simulations were executed using Multi-Agent-Based Modelling (ABM), a relatively new computational modelling paradigm involving the modelling of phenomena as dynamical systems of interacting agents. The thesis in particular, investigates the functions and properties necessary to reproduce the paradigm of society by using the mentioned ABM approach. Luhmann has proposed that in society subsystems are formed to reduce uncertainty. Subsystems can then be composed by agents with a reduced behavioural complexity. For example in society there are people who produce goods and other who distribute them. Both the behaviour and communication is learned by the agent and not imposed. The simulated task is to collect food, keep it and eat it until sated. Every agent communicates its energy state to the neighbouring agents. This results in two subsystems whereas agents in the first collect food and in the latter steal food from others. The ratio between the number of agents that belongs to the first system and to the second system, depends on the number of food resources. Simulations are in accordance with Luhmann, who suggested that adaptive agents self-organise by reducing the amount of sensory information or, equivalently, reducing the complexity of the perceived environment from the agent's perspective. Shannon's information theorem is used to assess the performance of the simulated learning agents. A practical measure, based on the concept of Shannon's information ow, is developed and applied to adaptive controllers which use Hebbian learning, input correlation learning (ICO/ISO) and temporal difference learning. The behavioural complexity is measured with a novel information measure, called Predictive Performance, which is able to measure at a subjective level how good an agent is performing a task. This is then used to quantify the social division of tasks in a social group of honest, cooperative food foraging, communicating agents

A PROBABILISTIC APPROACH TO THE CONSTRUCTION OF A MULTIMODAL AFFECT SPACE

Understanding affective signals from others is crucial for both human-human and human-agent interaction. The automatic analysis of emotion is by and large addressed as a pattern recognition problem which grounds in early psychological theories of emotion. Suitable features are first extracted and then used as input to classification (discrete emotion recognition) or regression (continuous affect detection). In this thesis, differently from many computational models in the literature, we draw on a simulationist approach to the analysis of facially displayed emotions - e.g., in the course of a face-to-face interaction between an expresser and an observer. At the heart of such perspective lies the enactment of the perceived emotion in the observer. We propose a probabilistic framework based on a deep latent representation of a continuous affect space, which can be exploited for both the estimation and the enactment of affective states in a multimodal space. Namely, we consider the observed facial expression together with physiological activations driven by internal autonomic activity. The rationale behind the approach lies in the large body of evidence from affective neuroscience showing that when we observe emotional facial expressions, we react with congruent facial mimicry. Further, in more complex situations, affect understanding is likely to rely on a comprehensive representation grounding the reconstruction of the state of the body associated with the displayed emotion. We show that our approach can address such problems in a unified and principled perspective, thus avoiding ad hoc heuristics while minimising learning efforts. Moreover, our model improves the inferred belief through the adoption of an inner loop of measurements and predictions within the central affect state-space, that realise the dynamics of the affect enactment. Results so far achieved have been obtained by adopting two publicly available multimodal corpora