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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)
This paper presents an autonomous robot designed to interact socially with human " parents ". A human infant's emotions and drives play an important role in generating meaningful interactions with the caretaker, regulating these interactions to maintain an environment suitable for the learning process, and assisting the caretaker in satisfying the infant's(More)
This paper presents an autonomous robot designed to interact socially with human " parents ". A human infant's emotions and drives play an important role in generating meaningful interactions with the caretaker, regulating these interactions to maintain an environment suitable for the learning process, and assisting the caretaker in satisfying the infant's(More)
We want to build robots capable of rich social interactions with humans, including natural communication and cooperation. This work explores how imitation as a social learning and teaching process may be applied to building socially intelligent robots, and summarizes our progress toward building a robot capable of learning how to imitate facial expressions(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)