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

Are words easier to learn from infant- than adult-directed speech? A quantitative corpus-based investigation

We investigate whether infant-directed speech (IDS) could facilitate word form learning when compared to adult-directed speech (ADS). To study this, we examine the distribution of word forms at two levels, acoustic and phonological, using a large database of spontaneous speech in Japanese. At the acoustic level we show that, as has been documented before for phonemes, the realizations of words are more variable and less discriminable in IDS than in ADS. At the phonological level, we find an effect in the opposite direction: the IDS lexicon contains more distinctive words (such as onomatopoeias) than the ADS counterpart. Combining the acoustic and phonological metrics together in a global discriminability score reveals that the bigger separation of lexical categories in the phonological space does not compensate for the opposite effect observed at the acoustic level. As a result, IDS word forms are still globally less discriminable than ADS word forms, even though the effect is numerically small. We discuss the implication of these findings for the view that the functional role of IDS is to improve language learnability.Comment: Draf

Double Articulation Analyzer with Prosody for Unsupervised Word and Phoneme Discovery

Infants acquire words and phonemes from unsegmented speech signals using segmentation cues, such as distributional, prosodic, and co-occurrence cues. Many pre-existing computational models that represent the process tend to focus on distributional or prosodic cues. This paper proposes a nonparametric Bayesian probabilistic generative model called the prosodic hierarchical Dirichlet process-hidden language model (Prosodic HDP-HLM). Prosodic HDP-HLM, an extension of HDP-HLM, considers both prosodic and distributional cues within a single integrative generative model. We conducted three experiments on different types of datasets, and demonstrate the validity of the proposed method. The results show that the Prosodic DAA successfully uses prosodic cues and outperforms a method that solely uses distributional cues. The main contributions of this study are as follows: 1) We develop a probabilistic generative model for time series data including prosody that potentially has a double articulation structure; 2) We propose the Prosodic DAA by deriving the inference procedure for Prosodic HDP-HLM and show that Prosodic DAA can discover words directly from continuous human speech signals using statistical information and prosodic information in an unsupervised manner; 3) We show that prosodic cues contribute to word segmentation more in naturally distributed case words, i.e., they follow Zipf's law.Comment: 11 pages, Submitted to IEEE Transactions on Cognitive and Developmental System

Towards a Unified Model of Language Acquisition

In this theoretical paper, we first review and rebut standard criticisms against distributional approaches to language acquisition. We then present two closely-related models that use distributional analysis. The first deals with the acquisition of vocabulary, the second with grammatical development. We show how these two models can be combined with a semantic network grown using Hebbian learning, and briefly illustrate the advantages of this combination. An important feature of this hybrid system is that it combines two different types of distributional learning, the first based on order, and the second based on co-occurrences within a context

The cross-linguistic performance of word segmentation models over time.

We select three word segmentation models with psycholinguistic foundations - transitional probabilities, the diphone-based segmenter, and PUDDLE - which track phoneme co-occurrence and positional frequencies in input strings, and in the case of PUDDLE build lexical and diphone inventories. The models are evaluated on caregiver utterances in 132 CHILDES corpora representing 28 languages and 11.9 m words. PUDDLE shows the best performance overall, albeit with wide cross-linguistic variation. We explore the reasons for this variation, fitting regression models to performance scores with linguistic properties which capture lexico-phonological characteristics of the input: word length, utterance length, diversity in the lexicon, the frequency of one-word utterances, the regularity of phoneme patterns at word boundaries, and the distribution of diphones in each language. These properties together explain four-tenths of the observed variation in segmentation performance, a strong outcome and a solid foundation for studying further variables which make the segmentation task difficult

Using term clouds to represent segment-level semantic content of podcasts

Spoken audio, like any time-continuous medium, is notoriously difficult to browse or skim without support of an interface providing semantically annotated jump points to signal the user where to listen in. Creation of time-aligned metadata by human annotators is prohibitively expensive, motivating the investigation of representations of segment-level semantic content based on transcripts generated by automatic speech recognition (ASR). This paper examines the feasibility of using term clouds to provide users with a structured representation of the semantic content of podcast episodes. Podcast episodes are visualized as a series of sub-episode segments, each represented by a term cloud derived from a transcript generated by automatic speech recognition (ASR). Quality of segment-level term clouds is measured quantitatively and their utility is investigated using a small-scale user study based on human labeled segment boundaries. Since the segment-level clouds generated from ASR-transcripts prove useful, we examine an adaptation of text tiling techniques to speech in order to be able to generate segments as part of a completely automated indexing and structuring system for browsing of spoken audio. Results demonstrate that the segments generated are comparable with human selected segment boundaries

Building a Multimodal Lexicon: Lessons from Infants' Learning of Body Part Words

Human children outperform artificial learners because the former quickly acquire a multimodal, syntactically informed, and ever-growing lexicon with little evidence. Most of this lexicon is unlabelled and processed with unsupervised mechanisms, leading to robust and generalizable knowledge. In this paper, we summarize results related to 4-month-olds’ learning of body part words. In addition to providing direct experimental evidence on some of the Workshop’s assumptions, we suggest several avenues of research that may be useful to those developing and testing artificial learners. A first set of studies using a controlled laboratory learning paradigm shows that human infants learn better from tactile-speech than visual-speech co-occurrences, suggesting that the signal/modality should be considered when designing and exploiting multimodal learning tasks. A series of observational studies document the ways in which parents naturally structure the multimodal information they provide for infants, which probably happens in lexically specific ways. Finally, our results suggest that 4-month-olds can pick up on co-occurrences between words and specific touch locations (a prerequisite of learning an association between a body part word and the referent on the child’s own body) after very brief exposures, which we interpret as most compatible with unsupervised predictive models of learning

Probabilistic Modelling of Morphologically Rich Languages

This thesis investigates how the sub-structure of words can be accounted for in probabilistic models of language. Such models play an important role in natural language processing tasks such as translation or speech recognition, but often rely on the simplistic assumption that words are opaque symbols. This assumption does not fit morphologically complex language well, where words can have rich internal structure and sub-word elements are shared across distinct word forms. Our approach is to encode basic notions of morphology into the assumptions of three different types of language models, with the intention that leveraging shared sub-word structure can improve model performance and help overcome data sparsity that arises from morphological processes. In the context of n-gram language modelling, we formulate a new Bayesian model that relies on the decomposition of compound words to attain better smoothing, and we develop a new distributed language model that learns vector representations of morphemes and leverages them to link together morphologically related words. In both cases, we show that accounting for word sub-structure improves the models' intrinsic performance and provides benefits when applied to other tasks, including machine translation. We then shift the focus beyond the modelling of word sequences and consider models that automatically learn what the sub-word elements of a given language are, given an unannotated list of words. We formulate a novel model that can learn discontiguous morphemes in addition to the more conventional contiguous morphemes that most previous models are limited to. This approach is demonstrated on Semitic languages, and we find that modelling discontiguous sub-word structures leads to improvements in the task of segmenting words into their contiguous morphemes.Comment: DPhil thesis, University of Oxford, submitted and accepted 2014. http://ora.ox.ac.uk/objects/uuid:8df7324f-d3b8-47a1-8b0b-3a6feb5f45c