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

Unsupervised Phoneme and Word Discovery from Multiple Speakers using Double Articulation Analyzer and Neural Network with Parametric Bias

This paper describes a new unsupervised machine learning method for simultaneous phoneme and word discovery from multiple speakers. Human infants can acquire knowledge of phonemes and words from interactions with his/her mother as well as with others surrounding him/her. From a computational perspective, phoneme and word discovery from multiple speakers is a more challenging problem than that from one speaker because the speech signals from different speakers exhibit different acoustic features. This paper proposes an unsupervised phoneme and word discovery method that simultaneously uses nonparametric Bayesian double articulation analyzer (NPB-DAA) and deep sparse autoencoder with parametric bias in hidden layer (DSAE-PBHL). We assume that an infant can recognize and distinguish speakers based on certain other features, e.g., visual face recognition. DSAE-PBHL is aimed to be able to subtract speaker-dependent acoustic features and extract speaker-independent features. An experiment demonstrated that DSAE-PBHL can subtract distributed representations of acoustic signals, enabling extraction based on the types of phonemes rather than on the speakers. Another experiment demonstrated that a combination of NPB-DAA and DSAE-PB outperformed the available methods in phoneme and word discovery tasks involving speech signals with Japanese vowel sequences from multiple speakers.Comment: 21 pages. Submitte

Towards a framework for socially interactive robots

250 p.En las últimas décadas, la investigación en el campo de la robótica social ha crecido considerablemente. El desarrollo de diferentes tipos de robots y sus roles dentro de la sociedad se están expandiendo poco a poco. Los robots dotados de habilidades sociales pretenden ser utilizados para diferentes aplicaciones; por ejemplo, como profesores interactivos y asistentes educativos, para apoyar el manejo de la diabetes en niños, para ayudar a personas mayores con necesidades especiales, como actores interactivos en el teatro o incluso como asistentes en hoteles y centros comerciales.El equipo de investigación RSAIT ha estado trabajando en varias áreas de la robótica, en particular,en arquitecturas de control, exploración y navegación de robots, aprendizaje automático y visión por computador. El trabajo presentado en este trabajo de investigación tiene como objetivo añadir una nueva capa al desarrollo anterior, la capa de interacción humano-robot que se centra en las capacidades sociales que un robot debe mostrar al interactuar con personas, como expresar y percibir emociones, mostrar un alto nivel de diálogo, aprender modelos de otros agentes, establecer y mantener relaciones sociales, usar medios naturales de comunicación (mirada, gestos, etc.),mostrar personalidad y carácter distintivos y aprender competencias sociales.En esta tesis doctoral, tratamos de aportar nuestro grano de arena a las preguntas básicas que surgen cuando pensamos en robots sociales: (1) ¿Cómo nos comunicamos (u operamos) los humanos con los robots sociales?; y (2) ¿Cómo actúan los robots sociales con nosotros? En esa línea, el trabajo se ha desarrollado en dos fases: en la primera, nos hemos centrado en explorar desde un punto de vista práctico varias formas que los humanos utilizan para comunicarse con los robots de una maneranatural. En la segunda además, hemos investigado cómo los robots sociales deben actuar con el usuario.Con respecto a la primera fase, hemos desarrollado tres interfaces de usuario naturales que pretenden hacer que la interacción con los robots sociales sea más natural. Para probar tales interfaces se han desarrollado dos aplicaciones de diferente uso: robots guía y un sistema de controlde robot humanoides con fines de entretenimiento. Trabajar en esas aplicaciones nos ha permitido dotar a nuestros robots con algunas habilidades básicas, como la navegación, la comunicación entre robots y el reconocimiento de voz y las capacidades de comprensión.Por otro lado, en la segunda fase nos hemos centrado en la identificación y el desarrollo de los módulos básicos de comportamiento que este tipo de robots necesitan para ser socialmente creíbles y confiables mientras actúan como agentes sociales. Se ha desarrollado una arquitectura(framework) para robots socialmente interactivos que permite a los robots expresar diferentes tipos de emociones y mostrar un lenguaje corporal natural similar al humano según la tarea a realizar y lascondiciones ambientales.La validación de los diferentes estados de desarrollo de nuestros robots sociales se ha realizado mediante representaciones públicas. La exposición de nuestros robots al público en esas actuaciones se ha convertido en una herramienta esencial para medir cualitativamente la aceptación social de los prototipos que estamos desarrollando. De la misma manera que los robots necesitan un cuerpo físico para interactuar con el entorno y convertirse en inteligentes, los robots sociales necesitan participar socialmente en tareas reales para las que han sido desarrollados, para así poder mejorar su sociabilida

Design of a Neuromemristive Echo State Network Architecture

Echo state neural networks (ESNs) provide an efficient classification technique for spatiotemporal signals. The feedback connections in the ESN enable feature extraction in both spatial and temporal components in time series data. This property has been used in several application domains such as image and video analysis, anomaly detection, and speech recognition. The software implementations of the ESN demonstrated efficiency in processing such applications, and have low design cost and flexibility. However, hardware implementation is necessary for power constrained resources applications such as therapeutic and mobile devices. Moreover, software realization consumes an order or more power compared to the hardware realization. In this work, a hardware ESN architecture with neuromemristive system is proposed. A neuromemristive system is a brain inspired computing system that uses memristive devises for synaptic plasticity. The memristive devices in neuromemristive systems have several interesting properties such as small footprint, simple device structure, and most importantly zero static power dissipation. The proposed architecture is reconfigurable for different ESN topologies. 2-D mesh architecture and toroidal networks are exploited in the reservoir layer. The relation between performance of the proposed reservoir architecture and reservoir metrics are analyzed. The proposed architecture is tested on a suite of medical and human computer interaction applications. The benchmark suite includes epileptic seizure detection, speech emotion recognition, and electromyography (EMG) based finger motion recognition. The proposed ESN architecture demonstrated an accuracy of $90\%$, $96\%$, and $84\%$ for epileptic seizure detection, speech emotion recognition and EMG prosthetic fingers control respectively

BSL-1K: Scaling up co-articulated sign language recognition using mouthing cues

Recent progress in fine-grained gesture and action classification, and machine translation, point to the possibility of automated sign language recognition becoming a reality. A key stumbling block in making progress towards this goal is a lack of appropriate training data, stemming from the high complexity of sign annotation and a limited supply of qualified annotators. In this work, we introduce a new scalable approach to data collection for sign recognition in continuous videos. We make use of weakly-aligned subtitles for broadcast footage together with a keyword spotting method to automatically localise sign-instances for a vocabulary of 1,000 signs in 1,000 hours of video. We make the following contributions: (1) We show how to use mouthing cues from signers to obtain high-quality annotations from video data - the result is the BSL-1K dataset, a collection of British Sign Language (BSL) signs of unprecedented scale; (2) We show that we can use BSL-1K to train strong sign recognition models for co-articulated signs in BSL and that these models additionally form excellent pretraining for other sign languages and benchmarks - we exceed the state of the art on both the MSASL and WLASL benchmarks. Finally, (3) we propose new large-scale evaluation sets for the tasks of sign recognition and sign spotting and provide baselines which we hope will serve to stimulate research in this area.Comment: Appears in: European Conference on Computer Vision 2020 (ECCV 2020). 28 page