Learning a Set of Interrelated Tasks by Using a Succession of Motor Policies for a Socially Guided Intrinsically Motivated Learner

We aim at a robot capable to learn sequences of actions to achieve a field of complex tasks. In this paper, we are considering the learning of a set of interrelated complex tasks hierarchically organized. To learn this high-dimensional mapping between a continuous high-dimensional space of tasks and an infinite dimensional space of unbounded sequences of actions, we introduce a new framework called “procedures”, which enables the autonomous discovery of how to combine previously learned skills in order to learn increasingly complex combinations of motor policies. We propose an active learning algorithmic architecture, capable of organizing its learning process in order to achieve a field of complex tasks by learning sequences of primitive motor policies. Based on heuristics of active imitation learning, goal-babbling and strategic learning using intrinsic motivation, our algorithmic architecture leverages our procedures framework to actively decide during its learning process which outcome to focus on and which exploration strategy to apply. We show on a simulated environment that our new architecture is capable of tackling the learning of complex motor policies by adapting the complexity of its policies to the task at hand. We also show that our “procedures” enable the learning agent to discover the task hierarchy and exploit his experience of previously learned skills to learn new complex tasks

Intelligence artificielle: Les défis actuels et l'action d'Inria - Livre blanc Inria

Livre blanc Inria N°01International audienceInria white papers look at major current challenges in informatics and mathematics and show actions conducted by our project-teams to address these challenges. This document is the first produced by the Strategic Technology Monitoring & Prospective Studies Unit. Thanks to a reactive observation system, this unit plays a lead role in supporting Inria to develop its strategic and scientific orientations. It also enables the institute to anticipate the impact of digital sciences on all social and economic domains. It has been coordinated by Bertrand Braunschweig with contributions from 45 researchers from Inria and from our partners. Special thanks to Peter Sturm for his precise and complete review.Les livres blancs d’Inria examinent les grands défis actuels du numérique et présentent les actions menées par noséquipes-projets pour résoudre ces défis. Ce document est le premier produit par la cellule veille et prospective d’Inria. Cette unité, par l’attention qu’elle porte aux évolutions scientifiques et technologiques, doit jouer un rôle majeur dans la détermination des orientations stratégiques et scientifiques d’Inria. Elle doit également permettre à l’Institut d’anticiper l’impact des sciences du numérique dans tous les domaines sociaux et économiques. Ce livre blanc a été coordonné par Bertrand Braunschweig avec des contributions de 45 chercheurs d’Inria et de ses partenaires. Un grand merci à Peter Sturm pour sa relecture précise et complète. Merci également au service STIP du centre de Saclay – Île-de-France pour la correction finale de la version française

I, Posthuman:embodying entangled subjectivities in gaming

We live in an era where the fundamental principles of what it means to be human are being reconsidered and reconceptualised, and we are moving towards a more entangled and relational understanding of the human’s ontology. The “boundaries” of what constitute a human as separate from both its surroundings and human and non-human others are being problematised. How do you separate “the human” from its contexts? In an age where advanced technology often constitutes these contexts, how can you separate the human from technology? Whilst we have always been entangled, today this occurs in a context that is more technologically driven, and this has provoked further debate on the status of the “posthuman”. This PhD thesis is concerned with what it means and how feels to be posthuman, by exploring how posthuman subjectivities are enabled and embodied. What we are capable of doing emerges contextually: it is profoundly dependent on our environments. In my view of the posthuman, the stable “human” self is disrupted, giving way to a subjectivity where our interactions in the world are more intra-active. But how might we consider the emergence of posthuman subjectivities in more depth? I suggest using a particular example of posthuman subjectivity, the MMORPG avatargamer, to demonstrate how the humanistically separated entities of “avatar” and “gamer” can provide a context to explore how “other” and “self” are not ontologically distinct. In doing so, I ask: what specific practices enable or provoke this ontological entanglement? Engaging in an autoethnographic inquiry, I use my intra-action with my avatar Etyme in the MMORPG World of Warcraft as one example of posthuman subjectivity. This methodology in itself is intriguing to explore the multiplicity of selves we experience, and negotiates the humanistic overthrows of “selfhood” whilst experiencing the self as entangled. Through my construct of the posthuman, where the human cannot be meaningfully separated from its environment, we are nevertheless still drawn to speak of an “I” and have a desire to understand ourselves as independent agents. However, the fieldnotes analysed in this thesis disrupt the “I”, and instead reflect on the shifting sense of self with and through an entity that is experienced as both me-and-not-me. Whilst an autoethnographic posthumanism might seem contradictory, I argue that it is a fundamental step in acknowledging our humanistic tendencies and beginning to reflexively engage with, and critique, these ideals. To do so, this thesis “posthumanises” traditionally humanistic constructs: acting and empathy. To widen this concept further, a third analytic re-interrogates different aspects of subject formation to consider how these too could be “posthumanised”. This suggests a broader application of posthumanism, demonstrating how previous notions of mastery, autonomy, and individuality can be critiqued and destabilised in order to view our practices and “selves” as emergent and entwined

Synthesis of listener vocalizations : towards interactive speech synthesis

Spoken and multi-modal dialogue systems start to use listener vocalizations, such as uh-huh and mm-hm, for natural interaction. Generation of listener vocalizations is one of the major objectives of emotionally colored conversational speech synthesis. Success in this endeavor depends on the answers to three questions: Where to synthesize a listener vocalization? What meaning should be conveyed through the synthesized vocalization? And, how to realize an appropriate listener vocalization with the intended meaning? This thesis addresses the latter question. The investigation starts with proposing a three-stage approach: (i) data collection, (ii) annotation, and (iii) realization. The first stage presents a method to collect natural listener vocalizations from German and British English professional actors in a recording studio. In the second stage, we explore a methodology for annotating listener vocalizations -- meaning and behavior (form) annotation. The third stage proposes a realization strategy that uses unit selection and signal modification techniques to generate appropriate listener vocalizations upon user requests. Finally, we evaluate naturalness and appropriateness of synthesized vocalizations using perception studies. The work is implemented in the open source MARY text-to-speech framework, and it is integrated into the SEMAINE project\u27s Sensitive Artificial Listener (SAL) demonstrator.Dialogsysteme nutzen zunehmend Hörer-Vokalisierungen, wie z.B. a-ha oder mm-hm, für natürliche Interaktion. Die Generierung von Hörer-Vokalisierungen ist eines der zentralen Ziele emotional gefärbter, konversationeller Sprachsynthese. Ein Erfolg in diesem Unterfangen hängt von den Antworten auf drei Fragen ab: Wo bzw. wann sollten Vokalisierungen synthetisiert werden? Welche Bedeutung sollte in den synthetisierten Vokalisierungen vermittelt werden? Und wie können angemessene Hörer-Vokalisierungen mit der intendierten Bedeutung realisiert werden? Diese Arbeit widmet sich der letztgenannten Frage. Die Untersuchung erfolgt in drei Schritten: (i) Korpuserstellung; (ii) Annotation; und (iii) Realisierung. Der erste Schritt präsentiert eine Methode zur Sammlung natürlicher Hörer-Vokalisierungen von deutschen und britischen Profi-Schauspielern in einem Tonstudio. Im zweiten Schritt wird eine Methodologie zur Annotation von Hörer-Vokalisierungen erarbeitet, die sowohl Bedeutung als auch Verhalten (Form) umfasst. Der dritte Schritt schlägt ein Realisierungsverfahren vor, die Unit-Selection-Synthese mit Signalmodifikationstechniken kombiniert, um aus Nutzeranfragen angemessene Hörer-Vokalisierungen zu generieren. Schließlich werden Natürlichkeit und Angemessenheit synthetisierter Vokalisierungen mit Hilfe von Hörtests evaluiert. Die Methode wurde im Open-Source-Sprachsynthesesystem MARY implementiert und in den Sensitive Artificial Listener-Demonstrator im Projekt SEMAINE integriert

L’auto-exploration des espaces sensorimoteurs chez les robots

Developmental robotics has begun in the last fifteen years to study robots that havea childhood—crawling before trying to run, playing before being useful—and that are basing their decisions upon a lifelong and embodied experience of the real-world. In this context, this thesis studies sensorimotor exploration—the discovery of a robot’s own body and proximal environment—during the early developmental stages, when no prior experience of the world is available. Specifically, we investigate how to generate a diversity of effects in an unknown environment. This approach distinguishes itself by its lack of user-defined reward or fitness function, making it especially suited for integration in self-sufficient platforms. In a first part, we motivate our approach, formalize the exploration problem, define quantitative measures to assess performance, and propose an architectural framework to devise algorithms. through the extensive examination of a multi-joint arm example, we explore some of the fundamental challenges that sensorimotor exploration faces, such as high-dimensionality and sensorimotor redundancy, in particular through a comparison between motor and goal babbling exploration strategies. We propose several algorithms and empirically study their behaviour, investigating the interactions with developmental constraints, external demonstrations and biologicallyinspired motor synergies. Furthermore, because even efficient algorithms can provide disastrous performance when their learning abilities do not align with the environment’s characteristics, we propose an architecture that can dynamically discriminate among a set of exploration strategies. Even with good algorithms, sensorimotor exploration is still an expensive proposition— a problem since robots inherently face constraints on the amount of data they are able to gather; each observation takes a non-negligible time to collect. [...] Throughout this thesis, our core contributions are algorithms description and empirical results. In order to allow unrestricted examination and reproduction of all our results, the entire code is made available. Sensorimotor exploration is a fundamental developmental mechanism of biological systems. By decoupling it from learning and studying it in its own right in this thesis, we engage in an approach that casts light on important problems facing robots developing on their own.La robotique développementale a entrepris, au courant des quinze dernières années,d’étudier les processus développementaux, similaires à ceux des systèmes biologiques,chez les robots. Le but est de créer des robots qui ont une enfance—qui rampent avant d’essayer de courir, qui jouent avant de travailler—et qui basent leurs décisions sur l’expérience de toute une vie, incarnés dans le monde réel.Dans ce contexte, cette thèse étudie l’exploration sensorimotrice—la découverte pour un robot de son propre corps et de son environnement proche—pendant les premiers stage du développement, lorsque qu’aucune expérience préalable du monde n’est disponible. Plus spécifiquement, cette thèse se penche sur comment générer une diversité d’effets dans un environnement inconnu. Cette approche se distingue par son absence de fonction de récompense ou de fitness définie par un expert, la rendant particulièrement apte à être intégrée sur des robots auto-suffisants.Dans une première partie, l’approche est motivée et le problème de l’exploration est formalisé, avec la définition de mesures quantitatives pour évaluer le comportement des algorithmes et d’un cadre architectural pour la création de ces derniers. Via l’examen détaillé de l’exemple d’un bras robot à multiple degrés de liberté, la thèse explore quelques unes des problématiques fondamentales que l’exploration sensorimotrice pose, comme la haute dimensionnalité et la redondance sensorimotrice. Cela est fait en particulier via la comparaison entre deux stratégies d’exploration: le babillage moteur et le babillage dirigé par les objectifs. Plusieurs algorithmes sont proposés tour à tour et leur comportement est évalué empiriquement, étudiant les interactions qui naissent avec les contraintes développementales, les démonstrations externes et les synergies motrices. De plus, parce que même des algorithmes efficaces peuvent se révéler terriblement inefficaces lorsque leurs capacités d’apprentissage ne sont pas adaptés aux caractéristiques de leur environnement, une architecture est proposée qui peut dynamiquement choisir la stratégie d’exploration la plus adaptée parmi un ensemble de stratégies. Mais même avec de bons algorithmes, l’exploration sensorimotrice reste une entreprise coûteuse—un problème important, étant donné que les robots font face à des contraintes fortes sur la quantité de données qu’ils peuvent extraire de leur environnement;chaque observation prenant un temps non-négligeable à récupérer. [...] À travers cette thèse, les contributions les plus importantes sont les descriptions algorithmiques et les résultats expérimentaux. De manière à permettre la reproduction et la réexamination sans contrainte de tous les résultats, l’ensemble du code est mis à disposition. L’exploration sensorimotrice est un mécanisme fondamental du développement des systèmes biologiques. La séparer délibérément des mécanismes d’apprentissage et l’étudier pour elle-même dans cette thèse permet d’éclairer des problèmes importants que les robots se développant seuls seront amenés à affronter