Introduction: The Fourth International Workshop on Epigenetic Robotics

As in the previous editions, this workshop is trying to be a forum for multi-disciplinary research ranging from developmental psychology to neural sciences (in its widest sense) and robotics including computational studies. This is a two-fold aim of, on the one hand, understanding the brain through engineering embodied systems and, on the other hand, building artificial epigenetic systems. Epigenetic contains in its meaning the idea that we are interested in studying development through interaction with the environment. This idea entails the embodiment of the system, the situatedness in the environment, and of course a prolonged period of postnatal development when this interaction can actually take place. This is still a relatively new endeavor although the seeds of the developmental robotics community were already in the air since the nineties (Berthouze and Kuniyoshi, 1998; Metta et al., 1999; Brooks et al., 1999; Breazeal, 2000; Kozima and Zlatev, 2000). A few had the intuition – see Lungarella et al. (2003) for a comprehensive review – that, intelligence could not be possibly engineered simply by copying systems that are “ready made” but rather that the development of the system fills a major role. This integration of disciplines raises the important issue of learning on the multiple scales of developmental time, that is, how to build systems that eventually can learn in any environment rather than program them for a specific environment. On the other hand, the hope is that robotics might become a new tool for brain science similarly to what simulation and modeling have become for the study of the motor system. Our community is still pretty much evolving and “under construction” and for this reason, we tried to encourage submissions from the psychology community. Additionally, we invited four neuroscientists and no roboticists for the keynote lectures. We received a record number of submissions (more than 50), and given the overall size and duration of the workshop together with our desire to maintain a single-track format, we had to be more selective than ever in the review process (a 20% acceptance rate on full papers). This is, if not an index of quality, at least an index of the interest that gravitates around this still new discipline

Multi-modal meaning – An empirically-founded process algebra approach

Humans communicate with different modalities. We offer an account of multi-modal meaning coordination, taking speech-gesture meaning coordination as a prototypical case. We argue that temporal synchrony (plus prosody) does not determine how to coordinate speech meaning and gesture meaning. Challenging cases are asynchrony and broadcasting cases, which are illustrated with empirical data. We propose that a process algebra account satisfies the desiderata. It models gesture and speech as independent but concurrent processes that can communicate flexibly with each other and exchange the same information more than once. The account utilizes the psi-calculus, allowing for agents, input-output-channels, concurrent processes, and data transport of typed lambda-terms. A multi-modal meaning is produced integrating speech meaning and gesture meaning into one semantic package. Two cases of meaning coordination are handled in some detail: the asynchrony between gesture and speech, and the broadcasting of gesture meaning across several dialogue contributions. This account can be generalized to other cases of multi-modal meaning

Detecting Low Rapport During Natural Interactions in Small Groups from Non-Verbal Behaviour

Rapport, the close and harmonious relationship in which interaction partners are "in sync" with each other, was shown to result in smoother social interactions, improved collaboration, and improved interpersonal outcomes. In this work, we are first to investigate automatic prediction of low rapport during natural interactions within small groups. This task is challenging given that rapport only manifests in subtle non-verbal signals that are, in addition, subject to influences of group dynamics as well as inter-personal idiosyncrasies. We record videos of unscripted discussions of three to four people using a multi-view camera system and microphones. We analyse a rich set of non-verbal signals for rapport detection, namely facial expressions, hand motion, gaze, speaker turns, and speech prosody. Using facial features, we can detect low rapport with an average precision of 0.7 (chance level at 0.25), while incorporating prior knowledge of participants' personalities can even achieve early prediction without a drop in performance. We further provide a detailed analysis of different feature sets and the amount of information contained in different temporal segments of the interactions.Comment: 12 pages, 6 figure

Bridging the gap between emotion and joint action

Our daily human life is filled with a myriad of joint action moments, be it children playing, adults working together (i.e., team sports), or strangers navigating through a crowd. Joint action brings individuals (and embodiment of their emotions) together, in space and in time. Yet little is known about how individual emotions propagate through embodied presence in a group, and how joint action changes individual emotion. In fact, the multi-agent component is largely missing from neuroscience-based approaches to emotion, and reversely joint action research has not found a way yet to include emotion as one of the key parameters to model socio-motor interaction. In this review, we first identify the gap and then stockpile evidence showing strong entanglement between emotion and acting together from various branches of sciences. We propose an integrative approach to bridge the gap, highlight five research avenues to do so in behavioral neuroscience and digital sciences, and address some of the key challenges in the area faced by modern societies

Emerging Linguistic Functions in Early Infancy

This paper presents results from experimental studies on early language acquisition in infants and attempts to interpret the experimental results within the framework of the Ecological Theory of Language Acquisition (ETLA) recently proposed by (Lacerda et al., 2004a). From this perspective, the infant’s first steps in the acquisition of the ambient language are seen as a consequence of the infant’s general capacity to represent sensory input and the infant’s interaction with other actors in its immediate ecological environment. On the basis of available experimental evidence, it will be argued that ETLA offers a productive alternative to traditional descriptive views of the language acquisition process by presenting an operative model of how early linguistic function may emerge through interaction

Development of multisensory spatial integration and perception in humans

Previous studies have shown that adults respond faster and more reliably to bimodal compared to unimodal localization cues. The current study investigated for the first time the development of audiovisual (A‐V) integration in spatial localization behavior in infants between 1 and 10 months of age. We observed infants’ head and eye movements in response to auditory, visual, or both kinds of stimuli presented either 25° or 45° to the right or left of midline. Infants under 8 months of age intermittently showed response latencies significantly faster toward audiovisual targets than toward either auditory or visual targets alone They did so, however, without exhibiting a reliable violation of the Race Model, suggesting that probability summation alone could explain the faster bimodal response. In contrast, infants between 8 and 10 months of age exhibited bimodal response latencies significantly faster than unimodal latencies for both eccentricity conditions and their latencies violated the Race Model at 25° eccentricity. In addition to this main finding, we found age‐dependent eccentricity and modality effects on response latencies. Together, these findings suggest that audiovisual integration emerges late in the first year of life and are consistent with neurophysiological findings from multisensory sites in the superior colliculus of infant monkeys showing that multisensory enhancement of responsiveness is not present at birth but emerges later in life

Leading and following with a virtual trainer

This paper describes experiments with a virtual fitness trainer capable of mutually coordinated interaction. The virtual human co-exercises along with the user, leading as well as following in tempo, to motivate the user and to influence the speed with which the user performs the exercises. In a series of three experiments (20 participants in total) we attempted to influence the users' performance by manipulating the (timing of the) exercise behavior of the virtual trainer. The results show that it is possible to do this implicitly, using only micro adjustments to its bodily behavior. As such, the system is a rst step in the direction of mutually coordinated bodily interaction for virtual humans