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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)
— 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)
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)
New applications for autonomous robots bring them into the human environment where they are to serve as helpful assistants to untrained users in the home or office, or work as capable members of human-robot teams for security, military, and space efforts. These applications require robots to be able to quickly learn how to perform new tasks from natural(More)