Behavior, Dialog and LearningBehavior, Dialog and Learning

• The dialog/behavior has the following components: – (1) Eliza-like natural language dialogs based on pattern

matching and limited parsing. • Commercial products like Memoni, Dog.Com, Heart, Alice,

and Doctor all use this technology, very successfully – for instance Alice program won the 2001 Turing competition.

– This is a “conversational” part of the robot brain, based on pattern-matching, parsing and black-board principles.

– It is also a kind of “operating system” of the robot, which supervises other subroutines.

• (2) Subroutines with logical data base and natural language parsing (CHAT). – This is the logical part of the brain used to find connections between

places, timings and all kind of logical and relational reasonings, such as answering questions about Japanese geography.

• (3) Use of generalization and analogy in dialog on many levels. – Random and intentional linking of spoken language, sound effects and facial gestures.

– Use of Constructive Induction approach to help generalization, analogy reasoning and probabilistic generations in verbal and non-verbal dialog, like learning when to smile or turn the head off the partner.

Behavior, Dialog and LearningBehavior, Dialog and Learning

• (4) Model of the robot, model of the user, scenario of the situation, history of the dialog, all used in the conversation.

• (5) Use of word spotting in speech recognition rather than single word or continuous speech recognition.

• (6) Continuous speech recognition (Microsoft)• (7) Avoidance of “I do not know”, “I do not

understand” answers from the robot. – Our robot will have always something to say, in the worst case,

over-generalized, with not valid analogies or even nonsensical and random.

Behavior, Dialog and LearningBehavior, Dialog and Learning

Constructive Constructive InductionInduction

- - -

00 01 11 10

00 - - -01 - - -11 - – 1,1,1,0 -10 -

ABABCDCD

0,0,0,3

-

Input Variables

A: 0=what, 1=where, B: 0=wrote, 1=is, C: 0=book, 1=room, D: 0=Smith, 1=Lee

0000=what wrote book Smith?

0111=what is room Lee?

1111=where is room Lee?

Example Answer = Smith wrotebook “Automata Theory”

Example Answer = Lee is room 332

New Question:

0001: What wrote book Lee?

Fig. 3. Question Answering by induction of answer parameters.

Output Variables

X: 0=Smith, 1=Lee, 2=Perkowski, Y: 0=wrote , 1=is, Z: 0=book, 1=room, 2=building, V: 0=332, 1=73, 2=245, 3=“Automata Theory”, 4=“Logic Design”

X,Y,Z,V

Name (examples)

Age (output)

dSmile Height Hair Color

Joan Kid (0) a(3) b(0) c(0)

MikeTeenager

(1) a(2) b(1) c(1)

Peter Mid-age

(2) a(1) b(2) c(2)  

Frank Old (3) a(0) b(3) c(3)

Example “Age Recognition”Example “Age Recognition”

Examples of data for learning, four people, given to the system

Smile - a Very often

often moderately rarely

Values 3 2 1 0

Height - b Very Tall

Tall Middle Short

Values 3 2 1 0

Color - c Grey Black Brown Blonde

Values 3 2 1 0

Example “Age Recognition”Example “Age Recognition”

Encoding of features, values of multiple-valued variables

Multi-valued Map for DataMulti-valued Map for Data

ab\ c 0 1 2 3

00 - - - -

01 - - - 3

02 - - - -

03 - - - -

10 - - - -

11 - - - -

12 - - 2 -

13 - - - -

20 - - - -

21 - 1 - -

22 - - - -

23 - - - -

30 0 - - -

31 - - - -

32 - - - -

33 - - - -

d = F( a, b, c )

ab\ c 0 1 2 3

00 - - - -

01 - - - 3

02 - - - -

03 - - - -

10 - - - -

11 - - - -

12 - - 2 -

13 - - - -

20 - - - -

21 - 1 - -

22 - - - -

23 - - - -

30 0 - - -

31 - - - -

32 - - - -

33 - - - -

Groups show a simple Groups show a simple induction from the Datainduction from the Data

Old people smile rarelyOld people smile rarely

ab\ c 0 1 2 3

00 - - - -

01 - - - 3

02 - - - -

03 - - - -

10 - - - -

11 - - - -

12 - - 2 -

13 - - - -

20 - - - -

21 - 1 - -

22 - - - -

23 - - - -

30 0 - - -

31 - - - -

32 - - - -

33 - - - -

Groups show a simple Groups show a simple induction from the Datainduction from the Data

Middle-age people smile Middle-age people smile moderatelymoderately

Teenagers smile oftenTeenagers smile often

Children smile very oftenChildren smile very often

Grey hairblonde hair

Another example: teaching movements

C - right light sensorC - right light sensor

D - left microphoneD - left microphone

A - rightA - rightmicrophonemicrophoneB - left light sensorB - left light sensor00 01 11 10

00 - 1,0 -01 2,0 1,0 1,111 - – 0,0 -10 - 0,0 - -

ABAB

CDCD

-0,0

Head_Horiz , Eye_Blink

Robot turnshead right,away fromlight in left

Robot turns head leftwith equal front lightingand no sound.

It blinks eyes

Robot doesnothing

Robot turns headleft, away from lightin right, towardssound in left

Fig. 2. Seven examples (4-input, 2 output minterms) aregiven by the teacher as correct robot behaviors

Input variables

Output variables

Generalization of Generalization of the Ashenhurst-the Ashenhurst-

Curtis Curtis decomposition decomposition

modelmodel

This kind of tables known from This kind of tables known from Rough Sets, Decision Trees, etc Rough Sets, Decision Trees, etc Data MiningData Mining

Decomposition is hierarchicalAt every step many decompositions exist

Which decomposition is better?

Original table

First variant of decompositionSecond variant

Constructive Induction: Constructive Induction: Technical DetailsTechnical Details

• U. Wong and M. Perkowski, A New Approach to Robot’s Imitation of Behaviors by Decomposition of Multiple-Valued Relations, Proc. 5th Intern. Workshop on Boolean Problems, Freiberg, Germany, Sept. 19-20, 2002, pp. 265-270.

• A. Mishchenko, B. Steinbach and M. Perkowski, An Algorithm for Bi-Decomposition of Logic Functions, Proc. DAC 2001, June 18-22, Las Vegas, pp. 103-108.

• A. Mishchenko, B. Steinbach and M. Perkowski, Bi-Decomposition of Multi-Valued Relations, Proc. 10th IWLS, pp. 35-40, Granlibakken, CA, June 12-15, 2001. IEEE Computer Society and ACM SIGDA.

• Decision Trees, Ashenhurst/Curtis hierarchical decomposition and Bi-Decomposition algorithms are used in our software

• These methods create our subset of MVSIS system developed under Prof. Robert Brayton at University of California at Berkeley [2].– The entire MVSIS system can be also used.

• The system generates robot’s behaviors (C program codes) from examples given by the users.

• This method is used for embedded system design, but we use it specifically for robot interaction.

Constructive InductionConstructive Induction

Ashenhurst Functional DecompositionAshenhurst Functional DecompositionEvaluates the data function and attempts to

decompose into simpler functions.

if A B = , it is disjoint decomposition

if A B , it is non-disjoint decomposition

B - bound set

A - free set

F(X) = H( G(B), A ), X = A F(X) = H( G(B), A ), X = A B B

X

A Standard Map of A Standard Map of function ‘z’function ‘z’

Bound Set

Fre

e S

et

a b \ c

z

Columns 0 and 1and

columns 0 and 2are compatible

column compatibility = 2

Explain the concept of Explain the concept of generalized don’t caresgeneralized don’t cares

NEW Decomposition of Multi-Valued NEW Decomposition of Multi-Valued RelationsRelations

if A B = , it is disjoint decomposition

if A B , it is non-disjoint decomposition

F(X) = H( G(B), A ), X = A B

Relation Rel

atio

n

Rel

atio

n

A

B

X

Forming a CCG from a K-MapForming a CCG from a K-Map

z

Bound Set

Fre

e S

et

a b \ cColumns 0 and 1 and columns 0 and 2 are compatiblecolumn compatibility index = 2

C1

C2

C0

Column Compatibility

Graph

Forming a CIG from a K-MapForming a CIG from a K-MapColumns 1 and 2 are incompatiblechromatic number = 2

z

a b \ c

C1

C2

C0

Column Incompatibility Graph

• A unified internal language is used to describe behaviors in which text generation and facial gestures are unified.

• This language is for learned behaviors.

• Expressions (programs) in this language are either created by humans or induced automatically from examples given by trainers.

Constructive InductionConstructive Induction

Braitenberg Braitenberg Vehicles and Vehicles and Quantum Quantum Automata RobotsAutomata Robots

Another Example: Another Example: Braitenberg Braitenberg Vehicles and Quantum BVVehicles and Quantum BV

Braitenberg VehiclesBraitenberg Vehicles

Example 1: Simulation

Quantum Circuits

|0

|1

|x

|0

|1

|x

|0

|1

|xV V† V

=

U

|0

|1

V|x

|0

|1

|0

|1

|x

|0

|1

|0

|1

|x

?

Toffoli gate: Universal, uses controlled square root of NOT

Quantum Portland FacesQuantum Portland Faces

Conclusion. What did we learnConclusion. What did we learn

• (1) the more degrees of freedom the better the animation realism. Art and interesting behavior above certain threshold of complexity.

• (2) synchronization of spoken text and head (especially jaw) movements are important but difficult. Each robot is very different.

• (3) gestures and speech intonation of the head should be slightly exaggerated – superrealism, not realism.

Conclusion. What did we learn(cont)Conclusion. What did we learn(cont)

• (4) Noise of servos: – the sound should be laud to cover noises coming from motors and gears and

for a better theatrical effect. – noise of servos can be also reduced by appropriate animation and

synchronization.

• (5) TTS should be enhanced with some new sound-generating system. What?

• (6) best available ATR and TTS packages should be applied.• (7) OpenCV from Intel is excellent.• (8) use puppet theatre experiences. We need artists. The weakness

of technology can become the strength of the art in hands of an artist.

• (9) because of a too slow learning, improved parameterized learning methods should be developed, but also based on constructive induction.

• (10) open question: funny versus beautiful.• (11) either high quality voice recognition from headset or

low quality in noisy room. YOU CANNOT HAVE BOTH WITH CURRENT ATR TOOLS.

• (12) low reliability of the latex skins and this entire technology is an issue.

Conclusion. What did we learn(cont)Conclusion. What did we learn(cont)

We won an award in PDXBOT 2004. We showed our robots to several audiences

International Intel Science Talent Competition and PDXBOT 2004, 2005

Robot shows are excitingRobot shows are exciting

Our Goal is to build toys for 21-st Century and in this process, change the way how engineers are educated.

Commercial Commercial Value of Robot Value of Robot Toys and Toys and TheatresTheatres

Robot Toy Market - Robosapiens

toy, poses in front of toy, poses in front of toy, poses in front of

GlobalizationGlobalization• Globalization implies that images,

technologies and messages are everywhere, but at the same time disconnected from a particular social structure or context. (Alain Touraine)

• The need of a constantly expanding market for its products chases the bourgoise over the whole surface of the globe. It must nestle everywhere, settle everywhere, establish connections everywhere. (Marx & Engels, 1848)

India and China - what’s different?

• They started at the same level of wealth and exports in 1980

• China today exports $ 184 Bn vs $ 34 Bn for India

• China’s export industry employs today over 50 million people (vs 2 m s/w in 2008, and 20 m in the entire organized sector in India today!)

• China’s export industry consists of toys (> 60% of the (> 60% of the world marketworld market), bicycles (10 m to the US alone last year), and textiles (a vision of having a share of > 50% of the world market by 2008)

Learning from Korea and Singapore Learning from Korea and Singapore

• The importance of Learning– To manufacture efficiently– To open the door to foreign technology and

investment– To have sufficient pride in ones own ability to open

the door and go out and build ones own proprietary identity

• To invest in fundamentals like Education• to have the right cultural prerequisites for catching up

• To have pragmatism rule, not ideology

Samsung

1979 Started making microwaves

1980 First export order (foreign brand)

1983 OEM contracts with General Electric

1985 All GE microwaves made by Samsung

1987 All GE microwaves designed by Samsung

1990 The world’s largest microwave manufacturer - without its own brand

1990 Launch own brand outside Korea

2000 Samsung microwaves # 1 worldwide, twelve factories in twelve countries (including India, China and the US)

2003 – the largest electronics company in the world

How did Samsung do it?

• By learning from GE and other buyers• By working very hard - 70 hour weeks, 10 days

holiday • By being very productive - 9 microwaves per

person per day vs 4 at GE• By meeting every delivery on time, even if it

meant working 7-day weeks for six months• By developing new models so well that it got

GE to stop developing their own

Fundamental Fundamental question for question for humanoid humanoid robot buildersrobot builders

Should we build humanoid robots?

• Man’s design versus robot’s design• The humanoid robot is versatile and adaptive, it takes its form

from a human, a design well-verified by Nature.• Complete isomorphism of a humanoid robot with a human is

very difficult to achieve (walking) and not even not entirely desired.

• All what we need is to adapt the robot maximally to the needs of humans – elderly, disabled, children, entertainment.

• Replicating human motor or sensor functionality are based on mechanistic methodologies, – but adaptations and upgrades are possible – for instance brain wave

control or wheels

• Is it immoral?

Is it worthy to build humanoid robots?

• Can building a mechanistic digital synthetic version of man be anything less than a cheat when man is not mechanistic, digital nor synthetic? 

• If reference for the “ultimate” robot is man, then there is little confusion about one’s aim to replace man with a machine.

Man & Machine

• Main reason to build machines in our likeness is to facilitate their integration in our social space: – SOCIAL ROBOTICS

• Robot should do many things that we do, like climbing stairs, but not necessarily in the way we do it – airplane and bird analogy.

• Humanoid robots/social robots should make our life easier.

The Social Robot

• “developing a brain”: – Cognitive abilities as developed from classical AI to modern

cognitive ideas (neural networks, multi-agent systems, genetic algorithms…)

• “giving the brain a body”: – Physical embodiment, as indicated by Brooks [Bro86], Steels

[Ste94], etc.

• “a world of bodies”: – Social embodiment

• A Social Robot is:– A physical entity embodied in a complex, dynamic, and social

environment sufficiently empowered to behave in a manner conducive to its own goals and those of its community.

Anthropomorphism

• Social interaction involves an adaptation on both sides to rationalise each others actions, and the interpretation of the others actions based on one’s references

• Projective Intelligence: the observer ascribes a degree of “intelligence” to the system through their rationalisation of its actions

Anthropomorphism & The Social Robot

• Objectives– Augment human-robot sociality– Understand and rationalize robot behavior

• Embrace anthropomorphism

• BUT - How does the robot not become trapped by behavioral expectations?

• REQUIRED: A balance between anthropomorphic features and behaviors leading to the robot’s own identity

Finding the Balance• Movement

– Behavior (afraid of the light)– Facial Action Coding System

• Form– Physical construction– Degrees of freedom

• Interaction– Communication (robot-like vs. human voice)– Social cues/timing

• Autonomy• Function & role

– machine vs. human capabilities

Humanoid Robots Experiments and Research

Tasks

• Autonomous mobile robots• Emotion through motion• “Projective emotion”• Anthropomorphism• Social behaviors

• Qualitative and quantitative analysis to a wide audience through online web-based experiments

The perception learning tasks

• Robot Vision:Robot Vision:1. Where is a face? (Face detection)

2. Who is this person (Face recognition, learning with supervisor, person’s name is given in the process.

3. Age and gender of the person.

4. Hand gestures.

5. Emotions expressed as facial gestures (smile, eye movements, etc)

6. Objects hold by the person

7. Lips reading for speech recognition.

8. Body language.

The perception learning tasks

• Speech recognition:Speech recognition:1. Who is this person (voice based speaker

recognition, learning with supervisor, person’s name is given in the process.)

2. Isolated words recognition for word spotting.

3. Sentence recognition.

• Sensors.Sensors.1. Temperature

2. Touch

3. movement

The behavior learning tasks

• Facial and upper body gestures:Facial and upper body gestures:1. Face/neck gesticulation for interactive dialog.

2. Face/neck gesticulation for theatre plays.

3. Face/neck gesticulation for singing/dancing.

• Hand gestures and manipulation.Hand gestures and manipulation.1. Hand gesticulation for interactive dialog.

2. Hand gesticulation for theatre plays.

3. Hand gesticulation for singing/dancing.

Learning the perception/behavior mappings

1. Tracking the human.

2. Full gesticulation as a response to human behavior in dialogs and dancing/singing.

3. Modification of semi-autonomous behaviors such as breathing, eye blinking, mechanical hand withdrawals, speech acts as response to person’s behaviors.

4. Playing games with humans.

5. Body contact with human such as safe gesticulation close to human and hand shaking.

What to emphasize in future What to emphasize in future work?work?

• We want to develop a general methodology for prototyping software/hardware systems for interactive robots that work in human environment.

• Image processing, voice recognition, speech synthesis, expressing emotions, recognizing human emotions.

• Machine Learning technologies. • Safety, not hitting humans.

Can we build the Can we build the first complete first complete robot theatre in robot theatre in

the world? the world?

Yes, if we will have more students who really want to learn practical skills and not only to take classes

for grades.

Robotics I, Robotics II, individual projects, RAS, high school students.

Where are we going?

• This is an adventure, we do not know where our research will lead us.

• This is truly interdisciplinary project. We need artists and psychologists.

• If this takes the social functions of a theatre, it is a theatre.

• Lessons from CAD and computer chess: knowledge and search rather than “super-intelligent logic mechanism”.

• Initial complexity of knowledge.

• Lessons: – “degeneration” of robot soccer.– OMSI project and security– Laws about future robots, can he sue me?

• Our goal: build a working environment for:– Education– Entertainment– Verification of theories (bacteria foraging, social dynamics, Freud,

immunological robots)– Verification of technologies (FPGA, clusters, net in chip technologies and

AMBRIC).

• Many researchers will be able to base their own research on our environment. We provide the technical background for more advanced or artistic work.

• When there will be:– the first commercially successful robot theatre? – the first humanoid social robot?

Humanoid robots

• 1. Teachers and helpers:– Language teachers– Teaching children– Teaching disabled children– Helpers for disabled adults– Helpers for old people– Helpers and companions for mentally

disabled

Humanoid robots

• 2. Toys:– Conversational toys for lonely girls and young

woman– Human-like robots as pets.– Animal-like robots as pets.– Interactive theatres of little robots sold

separately and collected to families.

Humanoid robots

• 3. Robot Theatres:– Battle Bots (already commercial)– Robot theatres for children, next generation of Chucky

Cheese Pizza Theatres and Disney Worlds.– Avangarda theatres for Adults (Umatilla, sex,

violence, special effects like head separation, interaction, battle bots of new generation, and large size robot theatres in the prerries).

– Artistic robot theatres (none exist – see Japanese Bunraku and Noh single robots, Kissmet, aquarium and new robots of Cynthia Breazeal from MIT).

Humanoid robots

• 4. Kiosks and receptionists:– Toy-like and simplified (commercial products).– Realistic in view and size.– Mobile museum robots (commercial).– Wheeled humanoid robot of child-like size to

be rented for exhibitions.

Humanoid robots

• 5. Top research robots:– Kissmet– Honda– Sony– Fujitsu– Hubo and KAIST– Samsung– Many Japanese

• 6. Commercial Robot kits.– Mobile robots– Walking robots– Heads– Humanoids small– Humanoids – childlike and expensive. Pino.

Existing technologies for robot theatre• Mobile robots (battlebots, Los Angeles group, Carnegie

Mellon Group)• Walking animals• Walking big humans with robotic featuresJapanese

robots like trump playing Sony)

• Walking big humans with human-like features (head only - Albert Hubo, Small humans.

• Body on wheels.• Head only• Head with neck and shoulders.• Upper body• Head on wheels

New Robots

2005

• "Nothing serious. Just stunts. There are dogs, dolls, faces that contort and are supposed to express emotion on a robot," he said.

• Mr Engelberger, an American, founded the world's first company making industrial robots in 1961 and became a specialist manufacturer of robots for hospitals.

• It was pointless, expensive and unnecessary for Japan, which today makes three-quarters of the world's robots, to tinker with trivial inventions like robotic house sitters that rang to say there was a burglary going on, he said.

• It made more sense to use the formidable amount of research that it had already done on personal robot technology to apply it to machines made for tasks that actually needed doing.

• Such as robots that could be told by elderly or infirm people to fetch a book from a shelf or find the television remote or get a beer from the fridge.

• "I've talked to visiting nurses who say that older people have to go to the bathroom more often and are embarrassed to say to somebody in the house, 'Please take me to the bathroom again'. But who cares how many times you ask a robot to take you to the bathroom?"

• The future market for robots installed in the homes of elderly people was bigger than the luxury car market, he said, predicting that they would be leased out for $US500 ($673) per month.

• Human care-givers cost 10 times that, Mr Engelberger said, and nursing homes were higher still.

• "I know that there are things that a robot can't do. It's not going to bathe you and it's not going to dress you but it can be made to find the milk in the fridge," he said.

• What the $US8 billion robotics industry needs is for engineers to design practical robots for personal care. So why isn't more work being done? Mainly, Mr Engelberger thinks, it's because everyone is immersed in needless research and companies are distracted by the uneconomic quest for the humanoid, which he derides as toy making.

• "I say, stop it all … go for the whole damn schmeer … I've recently become an octogenarian and I'd ask you, please, hurry up."

Albert Hubo

• At an IT exhibition on the sidelines of the Asia-Pacific Economic Cooperation (APEC) summit in Busan, a participant shakes hands with a humanoid robot named “Albert Hubo” which has the face of Albert Einstein on Monday.

• The robot can walk and speak and expresses emotions by moving facial muscles

Albert Hubo meets President Bush

Help me robo-Einstein, you’re my only hope

Fujitsu’s Enon is getting a job at the grocery store

• Enon will be helping Aeon customers with everything from packing shopping bags and picking up groceries to find their way around the store.

• This is the new HAL-5, or more specifically the Hybrid Assistive Limb. Bionic Suit.

• It’s developed as a walking aid for those who could use a bit of extra power, such as the disabled or apparently farmers who must add bags of sodium to their basement water softeners.

Walking Actors, Japan

• $1000 iXs Research Corp. robots at Tokyo’s International Robot Exhibition.

The Bandai BN-17 Swiffer bot• Bandai BN-17 robot

– anthropomorphized robot for cleaning.

• It can also handle your email and act as a security system

SORA, a receptionist robot

The little bot sports a camera, microphone, and speaker for one way video conferencing with visitors, who can interface with an included touchscreen for information, and even scan a business card to show their identity to whoever is subjecting them to this robotic greeter. Once they’re all approved, the robot can wave it’s arms at them and point out the directions to the office being displayed on the screen.

The WowWee Robosapien v2• The $230 second generation

Robosapien v2 with remote from WowWee.

• The Robosapien v2 can see, hear, touch, and interact with you and his surroundings with a full range of fluid movement.

• Seething with attitude, his full-functioning arms with grippers allow him to pick-up and throw objects and then kung-fu your azz if you sass him.

• He features 100s of functions including a low-level gastro-intestinal condition resulting in the occasional air-biscuit or belch to your children’s (and yours, admit it) amusement.

• He’s also fully programmable which means you’ll find hacks-a-plenty in the open-source community allowing you to extend his functionality.

Questions to studentsQuestions to students1. Learn about new robot toys and other toys that can

be used in our theatre or converted to useful robots or their components.

2. Explain the concept of mapping architecture for a robot. Mapping being a combinational functions and mapping based on Finite State Machines.

3. Explain the concept of Probabilistic Finite State Machine and how it can be used to control movements of a robot.

4. How to use finite state machines and probabilistic machines for dialog and speech generation

Questions to studentsQuestions to students5. Explain Morita Theory and think if it can be

generalized.6. Our robots have speech recognition and vision.

Some have also sonar, infrared, touch and other sensors. What kind of sensors you would like to add and how you would like to program them for your applications.

7. What is your concept of interactive robot toy that would extend the ideas of our Theatre.

8. Write a script-scenario of conversation with robot that can be in 3 emotional states. The robot is a receptionist in Electrical Engineering Department at PSU.