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To explore issues of developmental structure, physical embodiment , integration of multiple sensory and motor systems, and social interaction, we have constructed an upper-torso humanoid robot called Cog. The robot has twenty-one degrees of freedom and a variety of sensory systems, including visual, auditory, vestibular, kinesthetic, and tac-tile senses.(More)
While Reinforcement Learning (RL) is not traditionally designed for interactive supervisory input from a human teacher, several works in both robot and software agents have adapted it for human input by letting a human trainer control the reward signal. In this work, we experimentally examine the assumption underlying these works, namely that the(More)
As robots become a mass consumer product, they will need to learn new skills by interacting with typical human users. Past approaches have adapted reinforcement learning (RL) to accept a human reward signal; however , we question the implicit assumption that people shall only want to give the learner feedback on its past actions. We present findings from a(More)
Human speech provides a natural and intuitive interface for both communicating with humanoid robots as well as for teaching them. In general, the acoustic pattern of speech contains three kinds of information: who the speaker is, what the speaker said, and how the speaker said it. This paper focuses on the question of recognizing affective communicative(More)
From birth, human infants are immersed in a social environment that allows them to learn by leveraging the skills and capabilities of their caregivers. A critical precursor to this type of social learning is the ability to maintain interaction levels that are neither overwhelming nor under-stimulating. In this paper, we present a mechanism for an autonomous(More)
— Nonverbal communication plays an important role in coordinating teammates' actions for collaborative activities. In this paper, we explore the impact of non-verbal social cues and behavior on task performance by a human-robot team. We report our results from an experiment where na¨ıve human subjects guide a robot to perform a physical task using speech(More)