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Sociable RobotsPeeping into the Human World 

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An Infant’s Advantages

Non-hostile environment

Actively benevolent, empathic caregiver 

Co-exists with mature version of self 

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Baby Scheme

Physical form can evoke nurturing response

Caregiver exaggerates voice, gestures

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Kismet – a Baby Robot

8/6/2019 Embodied Kismet

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Requirements

Robot needs to perceive human state

 – Computer vision, speech processing

Human needs to perceive robot state

 – Animatronics, speech generation

Closed loop interaction requires both

directions

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Attention can be deduced from behavior 

Or can be expressed more directly

Readable locus of attention

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Expressing locus of attention

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Computing locus of attention

“Cyclopean” camera Stereo pair  

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Computing locus of attention

Visual input Pre-attentive filters Saliency map Pursuit

Eye movementBehavior system

Modulatory influence

Primary information flow

(Cyclopean camera)

8/6/2019 Embodied Kismet

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Looking Preference

“Seek face” –high skin gain, low color saliency gain

Looking time 80% face, 20% block 

“Seek toy” –low skin gain, high saturated-color gain

Looking time 28% face, 72% block  

Internal influences bias how salience is measured

The robot is not a slave to its environment

Prefers behaviorally relevant stimuli

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Example (video)

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Example (video)

Robot’s search is task-

specific

Still opportunistic when

appropriate Visual behavior conveys

degree of commitment

Gaze direction,

expression conveysinterest

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Interpersonal Distance

Comfortableinteraction distance

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Interpersonal Distance

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Interpersonal Distance

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Interpersonal Distance

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Interpersonal Distance

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Examples (video)

Robot backs away if person comes too close

Cues person to back away too – social amplification

Robot makes itself salient to call a person closer if too far away

“Back off buster!”“Come hither, friend”

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Negotiating object showing

Comfortable interaction

speed 

Too fast –

irritation response

Too fast,

Too close –threat response

8/6/2019 Embodied Kismet

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Example (video)

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Facial expressions

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Negative

valence

Open

stance

Low

arousal

High

arousal

Positive

valence

Closedstance

tired

content

anger 

fear 

Generating Posture, Expressions

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Example Facial Expression

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With Posture (video)

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Emotive Voice Quality

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Synthesized Emotive Speech

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With Vocalizations (video)

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But…

Is there moreto life thanbeing really,

really, really,ridiculously

good-looking?

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Affective Intent (video)

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Evidence for Fernald-like Contours

Approval

Prohibition

Attention

Soothing

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Performing Recognition

prohibition &

high-energy neutral

attention & approval

soothing & low-energy neutral

energy

varia

nce

pitch mean

Breazeal & Aryananda, Humanoids 2000

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Examples (video)

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Turn-Taking

Cornerstone of human-style communication, learning,

and instruction

Four phases of turn cycle

 – relinquish floor 

 – listen to speaker 

 – reacquire floor 

 – speak

Integrates

 – visual behavior & attention

 – facial expression & animation

 – body posture

 – vocalization & lip synchronization

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Example (video)

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Conclusions

Robots can partake in “infant-caregiver”

interactions

These interactions are rich with scaffolding acts

Prerequisite for socially situated learning

Kismet’s really, really, ridiculously detailed web-pages:

htt // i it d / j t /ki t/