Cover not available
Part of
Gaze in Human-Robot Communication
Edited by Frank Broz, Hagen Lehmann, Bilge Mutlu and Yukiko Nakano
[Benjamins Current Topics 81] 2015
► pp. 99–130

Learning where to look

Autonomous development of gaze behavior for natural human-robot interaction

Keywords: Embodied Interactive Control Architecture, Gaze Control, HRI, Learning Nonverbal Behavior, Motif Discovery, social robotics
Published online: 16 December 2015
DOI logo
https://doi.org/10.1075/bct.81.06moh
References
Argyle, M
(2001) Bodily communication (new ed.). London: Routledge.Google Scholar
Atienza, R., & Zelinsky, A
(2005) Intuitive human-robot interaction through active 3d gaze tracking. Robotics Research, 15, 172–181.Google Scholar
Basseville, M., & Kikiforov, I
(1993) Detection of abrupt changes. Englewood Cliffs, New Jersy: Printice Hall.Google Scholar
Berlin, M., Gray, J., Thomaz, A.L., & Breazeal, C
(2006) Perspective taking: An organizing principle for learning in human-robot interaction. In Proceedings of the National Conference on Artificial Intelligence (Vol. 21, p. 1444). Menlo Park, CA & Cambridge, MA, London: AAAI Press & MIT Press.
Breazeal, C
(1998) A motivational system for regulating human-robot interaction. In AAAI ‘98/IAAI ‘98: Proceedings of the Fifteenth National/Tenth Conference on Artificial Intelligence/Innovative Applications of Artificial Intelligence (pp. 54–62). Menlo Park, CA, USA: American Association for Artificial Intelligence.
Breazeal, C., Berlin, M., Brooks, A., Gray, J., & Thomaz, A.L
(2006) Using perspective taking to learn from ambiguous demonstrations. Robotics and Autonomous Systems, 54(5), 385–393. DOI logoGoogle Scholar
Brooks, R.A., & Foundation, D
(1985) A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14–23; Sensors (Peterborough, NH). DOI logoGoogle Scholar
Davies, M., & Stone, T
(1995) Mental simulation. Oxford: Blackwell Publishers.Google Scholar
Frith, C.D., & Frith, U
(2006) The neural basis of mentalizing. Neuron, 50(4), 531–534. DOI logoGoogle Scholar
Gombay, E
(2008) Change detection in autoregressive time series. Journal of Multivariate Analysis, 99(3), 451–464. DOI logoGoogle Scholar
Hedges, L.V
(1981) Distribution theory for glass’s estimator of effect size and related estimators. Journal of Educational and Behavioral Statistics, 6(2), 107–128. DOI logoGoogle Scholar
Hirano, S., & Tsumoto, S
(2002) Mining similar temporal patterns in long time-series data and its application to medicine. In ICDM ‘02: Proceedings of the 2002 IEEE International Conference on Data Mining (ICDM’02, p. 219), Washington, DC, USA: IEEE Computer Society. DOI logo
Holm, S
(1979) A simple sequentially rejective multiple test procedure. Scandinavian Journal of Statistics, 6, 65–70.Google Scholar
Ide, T., & Inoue, K
(2005) Knowledge discovery from heterogeneous dynamic systems using change-point correlations. In Proceedings of SIAM International Conference on Data Mining .
Imai, M., Kanda, T., Ono, T., Ishiguro, H., & Mase, K
(2002) Robot mediated round table: Analysis of the effect of robot’s gaze. In Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on (pp.411–416). DOI logo
Ishiguro, H., Ono, T., & Imai, M
(2001) Robovie: A robot generates episode chains in our daily life. Communication, 1(April), 19–21.Google Scholar
Kadambe, S., & Boudreaux-Bartels, G
(1992) Application of the wavelet transform for pitch detection of speech signals. Information Theory, IEEE Transactions on, 38(2), 917–924. DOI logoGoogle Scholar
Kanda, T., Ishiguro, H., Ono, T., Imai, M., & Nakatsu, R
(2002) Development and evaluation of an interactive humanoid robot “robovie”. In Robotics and Automation, 2002. Proceedings. ICRA ‘02. IEEE International Conference on (Vol. 2, pp. 1848–1855).
Kendon, A
(1967) Some functions of gaze-direction in social interaction. Acta Psychologica (Amsterdam), 26(1), 22–63. DOI logoGoogle Scholar
(1970) Movement coordination in social interaction: Some examples considered. Acta Pyschologica, 32, 1–25. DOI logoGoogle Scholar
Minnen, D., Starner, T., Essa, I., & Isbell, C
(2007) Improving activity discovery with automatic neighborhood estimation. In International Joint Conference on Artificial Intelligence .
Miwa, H., Itoh, K., Matsumoto, M., Zecca, M., Takanobu, H., Rocella, S., Carrozza, M., Dario, P., & Takanishi, A
(2004) Effective emotional expressions with expression humanoid robot we-4rii: Integration of humanoid robot hand rch-1. In Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on (Vol. 3, pp. 2203–2208).
Mohammad, Y., & Nishida, T
(2009a) Constrained motif discovery in time series. New Generation Computing, 27(4), 319–346. DOI logoGoogle Scholar
(2009b) Learning interaction structure using a hierarchy of dynamical systems. In IEA/AIE (pp. 253–258).
(2009c) Toward combining autonomy and interactivity for social robots. AI & Society, 24(1), 35–49. DOI logoGoogle Scholar
(2010a) Controlling gaze with an embodied interactive control architecture. Applied Intelligence, 32(2), 148–163. DOI logoGoogle Scholar
(2010b) Learning interaction protocols using augmented baysian networks applied to guided navigation. In Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on (pp. 4119–4126). DOI logo
(2010c) Using physiological signals to detect natural interactive behavior. Applied Intelligence, 33, 79–92. DOI logoGoogle Scholar
Mohammad, Y., Nishida, T., & Okada, S
(2010) Autonomous development of gaze control for natural human-robot interaction. In Proceedings of the IUI2010 Workshop on Eye Gaze in Intelligent Human Machine Interaction (IUI’10) . DOI logo
Mohammad, Y., Xu, Y., Matsumura, K., & Nishida, T
(2008) The h3r explanation corpus: Human-human and base human-robot interaction dataset. In The fourth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP2008, pp. 201–206).
Multlu, B
(2009) Designing gaze behavior for humanlike robots. Ph.D. thesis, School of Computer Science, Carnegie Mellon University.
Murata, A., Fadiga, L., Fogassi, L., Gallese, V., Raos, V., & Rizzolatti, G
(1997) Object representation in the ventral premotor cortex (area f5) of the monkey. Journal of Neurophysiology, 78, 2226–2230.Google Scholar
Mutlu, B
(2008) The design of gaze behavior for embodied social interfaces. In CHI’08 Extended Abstracts on Human factors in Computing Systems (pp. 2661–2664). ACM.
(2009) Designing gaze behavior for humanlike robots. Ph.D. thesis, Northwestern University.
Oberman, L.M., McCleery, J.P., Ramachandran, V.S., & Pineda, J.A
(2007) Eeg evidence for mirror neuron activity during the observation of human and robot actions: Toward an analysis of the human qualities of interactive robots. Neural Computation, 70(13–15), 2194–2203.Google Scholar
Sabbagh, M.A
(2004) Understanding orbitofrontal contributions to theory-of-mind reasoning: Implications for autism. Brain and Cognition, 55, 209–219. DOI logoGoogle Scholar
Sidner, C.L., Kidd, C.D., Lee, C., & Lesh, N
(2004) Where to look: A study of human-robot engagement. In IUI ‘04: Proceedings of the 9th International Conference on Intelligent User Interfaces (pp. 78–84). New York, NY, USA: ACM.
Staudte, M., & Crocker, M
(2010) When robot gaze helps human listeners: Attentional versus intentional account. In Proceedings of the 32nd Annual Meeting of the Cognitive Science Society (pp. 1637–1642).
Thomaz, A.L., & Breazeal, C
(2006) Transparency and socially guided machine learning. In The 5th International Conference on Developmental Learning (ICDL) .
Trafton, J.G., Cassimatis, N.L., Bugajska, M.D., Brock, D.P., Mintz, F.E., & Schultz, A.C
(2005) Enabling effective human-robot interaction using perspective-taking in robots. Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on, 35(4), 460–470. DOI logoGoogle Scholar
Vollmer, A.L., Lohan, K., Fischer, K., Nagai, Y., Pitsch, K., Fritsch, J., Rohlfing, K., & Wrede, B
(2009) People modify their tutoring behavior in robot-directed interaction for action learning. In International Conference on Development and Learning (Vol. 8), Shanghai, China, IEEE. DOI logo
Wiese, E., Wykowska, A., Zwickel, J., & Muller, H.J
(2012) I see what you mean: How attentional selection is shaped by ascribing intentions to others. PloS One, 7(9), e45391. DOI logoGoogle Scholar
Yamazaki, A., Yamazaki, K., Kuno, Y., Burdelski, M., Kawashima, M., & Kuzuoka, H
(2008) Precision timing in human-robot interaction: Coordination of head movement and utterance. In CHI ‘08: Proceeding of the Twenty-Sixth Annual SIGCHI Conference on Human Factors in Computing Systems (pp. 131–140). New York, NY, USA: ACM. DOI logoGoogle Scholar
Yonezawa, T., Yamazoe, H., Utsumi, A., & Abe, S
(2007) Gaze-communicative behavior of stuffed-toy robot with joint attention and eye contact based on ambient gaze-tracking. In ICMI ‘07: Proceedings of the 9th International Conference on Multimodal Interfaces (pp. 140–145). New York, NY, USA: ACM. DOI logo
Yoshikawa, Y., Shinozawa, K., Ishiguro, H., Hagita, N., & Miyamoto, T
(2006) Responsive robot gaze to interaction partner. In Proceedings of Robotics: Science and Systems . DOI logo