1,658 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
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
Joint Goal Human Robot collaboration-From Remembering to Inferring
The ability to infer goals, consequences of one’s own and others’ actions is a critical desirable feature for robots to truly become our companions-thereby opening up applications in several domains. This article proposes the viewpoint that the ability to remember our own past experiences based on present context enables us to infer future consequences of both our actions/goals and observed actions/goals of the other (by analogy). In this context, a biomimetic episodic memory architecture to encode diverse learning experiences of iCub humanoid is presented. The critical feature is that partial cues from the present environment like objects perceived or observed actions of a human triggers a recall of context relevant past experiences thereby enabling the robot to infer rewarding future states and engage in cooperative goal-oriented behaviors. An assembly task jointly done by human and the iCub humanoid is used to illustrate the framework. Link between the proposed framework and emerging results from neurosciences related to shared cortical basis for ‘remembering, imagining and perspective taking’ is discussed
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