Emergence of evolutionary interaction with voice and motion between two robots using RNN

Wataru Hinoshita*, Tetsuya Ogata, Hideki Kozima, Hisashi Kanda, Toru Takahashi, Hiroshi G. Okuno

*この研究の対応する著者

研究成果

5 被引用数 (Scopus)

抄録

We propose a model of evolutionary interaction between two robots where signs used for communication emerge through mutual adaptation. Signs used in human interaction, e.g., language, gestures and eye contact change and evolve in form and meaning through repeated use. To create flexible human-like interaction systems, it is necessary to deal with signs as a dynamic property and to construct a framework in which signs emerge from mutual adaptation by agents. Our target is multi-modal interaction using voice and motion between two robots where a voice/motion pattern is used as a sign referring to a motion/voice pattern. To enable evolutionary signs (voice and motion patterns) to be recognized and generated, we utilized a dynamics model: Multiple Timescale Recurrent Neural Network (MTRNN). To enable the robots to interpret signs, we utilized hierarchical neural networks, which transform dynamics model parameters of voice/motion into those of motion/voice. In our experiment, two robots modified their own interpretation of signs constantly through mutual adaptation in interaction where they responded to the other's voice with motion one after the other. As a result of the experiment, we found that the interaction kept evolving through the robots' repeated and alternate miscommunications and readaptations, and this induced the emergence of diverse new signs that depended on the robots' body dynamics through the generalization capability of MTRNN.

本文言語English
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ4186-4192
ページ数7
DOI
出版ステータスPublished - 2009 12 11
外部発表はい
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
継続期間: 2009 10 112009 10 15

出版物シリーズ

名前2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
国/地域United States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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