Transcript SocialRobots - MIT Computer Science and Artificial Intelligence

The Next Generation of Robots?
Rodney Brooks
MIT Artificial Intelligence Laboratory — Research Directions
MIT Artificial Intelligence Laboratory — Research Directions
Levels of Control
Social Level
robot responds
to human
Behavior Level
perceptual
feedback
Skills Level
coordination
between motor
modalities
Primitives Level
human responds
to robot
current goal
current primitive(s)
MIT Artificial Intelligence Laboratory — Research Directions
Human <—> Robot
Cameras
Gaze direction
Eye tilt
Facial
features
Speech synthesizer
Microphones
Right eye pan
Camera with
wide field of
view
Camera with
narrow field of
view
Axis of rotation
Left eye pan
Neck tilt
Neck pan
Neck lean
Head orientation
MIT Artificial Intelligence Laboratory — Research Directions
Competencies
• Direct Visual Attention
• Recognize Socially Communicated
Reinforcement
• Communicate Internal State to Human
• Regulation of Social Interaction
MIT Artificial Intelligence Laboratory — Research Directions
No One in Charge
Cameras
Eye, neck, jaw motors
Ear, eyebrow, eyelid,
lip motors
QNX
Motor
ctrl
Attn
system
•
Eye
finder
CORBA
Tracker
Speakers
NT
Skin
filter
speech synthesis
affect recognition
•
Dist.
to
target
Motion
filter
Color
filter
audio
speech
comms
L
dual-port
RAM
Face
Control
Percept
& Motor
Emotive
Response
Drives &
Behavior
•
• 11 400-500 MHz PCs
CORBA
Linux
Speech
recognition
Microphone
CORBA
– QNX (vision)
– Linux (speech
recognition)
– NT (speech
synthesis & vocal
affect recognition
MIT Artificial Intelligence Laboratory — Research Directions
4 Motorola
68332 microcontrollers
L, multithreaded lisp
higher-level
perception,
motivation,
behavior,
motor skill
integration &
face control
Visual Attention
Frame Grabber
skin tone
color
motion
w
w
w
Top down,
task-driven
influences
reset
w
inhibit
attention
habituation
Eye Motor
Control
MIT Artificial Intelligence Laboratory — Research Directions
Visual Search
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Cinepak decompressor
are needed to see this picture.
MIT Artificial Intelligence Laboratory — Research Directions
Social Constraints
Person
backs off
Too close –
withdrawal
response
Person draws
closer
Comfortable
interaction distance
Too far –
calling
behavior
Comfortable interaction
speed
Too fast,
Too close –
threat response
Beyond
sensor
range
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Cinepak decompressor
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Too fast –
irritation
response
MIT Artificial Intelligence Laboratory — Research Directions
Cross Cultural Affect
That’s a good bo-o-y!
pitch, f (kHz)
o
pitch, fo (kHz)
No no baby.
time (ms)
time (ms)
approval
MMMM Oh, honey.
pitch, f (kHz)
o
Can you
get it?
pitch, f (kHz)
o
Can you
get it?
prohibition
time (ms)
attention
time (ms)
comfort
Evidence for 4 contours in
Kismet-directed speech
MIT Artificial Intelligence Laboratory — Research Directions
Affect Recognizer
energy variance
Soothing &
Low-Intensity
neutral
vs
Everything Else
Soothing
vs
Low-Intensity Neutral
Approval & Attention
vs
Prohibition
vs
High Intensity Neutral
prohibition
soothing
approval
vs
attention
neutral
approval
attention
prohibition
neutral
attention & approval
pitch mean soothing & low-energy neutral
MIT Artificial Intelligence Laboratory — Research Directions
Naive Subjects
•
5 female subjects
• 4 naive subjects
• 1 caregiver
•
Four contours and neutral
speech
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•
•
Multiple languages
•
•
praise, prohibition, attention,
soothing
French, German, Indonesian,
English, Russian
Driven by Human
MIT Artificial Intelligence Laboratory — Research Directions
Facial Expressions
arousal
angry
surprise
afraid
stress
elated
excitement
frustrated
displeasure
pleasure
neutral
sad
happy
content
depression
fatigued
calm
relaxed
bored
sleepy
sleep
MIT Artificial Intelligence Laboratory — Research Directions
Facial Postures in Affect Space
Open
stance
Low
arousal
fear
accepting
Negative
valence
tired
unhappy
content
surprise
Positive
valence
disgust
High
arousal
stern
anger
Closed stance
MIT Artificial Intelligence Laboratory — Research Directions
Face, Voice, Posture
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MIT Artificial Intelligence Laboratory — Research Directions
Turn-Taking / Proto-Dialog
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Cinepak decompressor
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•Naïve subjects
•Told to “talk to the robot”
•Engage in turn taking
•No understanding (on either side) of content
MIT Artificial Intelligence Laboratory — Research Directions