Who Needs Emotions? The Brain Meets the Robot

More documents

Recommendations

Info

obot emotion 297 tual features, the affective releasers go through a more detailed cognitive appraisal to judge their expected benefit to the robot: the quality of the stimulus (e.g., the intensity is too low, too high, or just right) or whether it is desired or not (e.g., it relates to the active goals or motivations). For instance, if the stimulation drive is being tended to and a nearby toy is moving neither too fast nor too close to the robot, then the desired toy releaser is active. However, if the social drive is being tended to instead, then the undesired toy releaser is active. If the toy has an aggressive motion (i.e., too close and moving too fast), then the threatening toy releaser is active. This evaluation is converted into an activation level for that affective releaser. If the activation level is above threshold, then its output is passed to the affective appraisal stage, where it can influence the net affective state and emotive response of the robot. Recognition of Communicated Affect Objects with which Kismet interacts can have affective value, such as a toy that is moving in a threatening manner. However, people can communicate affect directly to Kismet through tone of voice. Developmental psycholinguists can tell us much about how preverbal infants achieve this. Based on a series of cross-linguistic analyses, there appear to be at least four different pitch contours that prelinguistic infants can recognize affectively (approval, prohibition, comfort, and attention), each associated with a different emotional state (Fernald, 1989). Characteristic prosody curves for each are shown in Figure 10.5. Inspired by these theories, we have implemented a recognizer for distinguishing these four distinct prosodic patterns from Kismet-directed speech. The implemented classifier consists of several miniclassifiers, which execute in stages (see Fig. 10.6). A detailed presentation of the recognizer and its performance assessment can be found in Breazeal and Aryananda (2002). Based on our recordings, the preprocessed pitch contours from the training set resemble Fernald’s prototypical prosodic contours for approval, attention, prohibition, comfort/soothing, and neutral. Hence, we used Fernald’s insights to select those features that would prove useful in distinguishing these five classes. For the first classifier stage, global pitch and energy features (i.e., pitch mean and energy variance) partitioned the samples into useful intermediate classes (see Fig. 10.7). For instance, the prohibition samples are clustered in the low-pitch mean and high-energy variance region. The approval and attention classes form a cluster at the high-pitch mean and high-energy variance region. The soothing samples are clustered in the low-pitch mean and low-energy variance
298 robots pitch, f o (kHz) pitch, f o (kHz) Approval That’s a good bo-o-y! No no baby. time (ms) Attention Can you get it? time (ms) Can you get it? pitch, f o (kHz) pitch, f o (kHz) Prohibition time (ms) Comfort MMMM Oh, honey. time (ms) Figure 10.5. Fernald’s prototypical contours for approval, prohibition, attention, and soothing, which are matched to saliency measures hardwired into an infant’s auditory processing system (Fernald, 1989). F o, pitch. Soothing & Low-Intensity Neutral vs. Everything Else Soothing vs. Low-Intensity Neutral Approval & Attention vs. Prohibition vs. High-Intensity Neutral Soothing Neutral Approval vs. Attention Prohibition Neutral Approval Attention Figure 10.6. The spoken affective intent recognizer. Each stage is a miniclassifier that uses acoustic features identified by Fernald (1989) to recognize each of the four affective intents.
Page 1 and 2:
TLFeBOOK Who Needs Emotions? The Br
Page 3 and 4:
The Nature of Emotion: Fundamental
Page 5 and 6:
3 Oxford University Press, Inc., pu
Page 7 and 8:
vi preface want their computer prog
Page 9 and 10:
viii preface is required because th
Page 11 and 12:
x preface prefer to read Part III b
Page 13 and 14:
xii contents PART III: ROBOTS 7 Aff
Page 15 and 16:
xiv contributors Jean-Marc Fellous
Page 17 and 18:
This page intentionally left blank
Page 19 and 20:
Page 21 and 22:
4 perspectives RUSSELL: I confess t
Page 23 and 24:
6 perspectives EDISON: Tinkering! Y
Page 25 and 26:
Page 27 and 28:
10 perspectives HOW COULD WE TELL I
Page 29 and 30:
12 perspectives This, of course, ra
Page 31 and 32:
14 perspectives of a stimulus (e.g.
Page 33 and 34:
16 perspectives an emotion is neith
Page 35 and 36:
18 perspectives cognitive processes
Page 37 and 38:
20 perspectives that they visually
Page 39 and 40:
22 perspectives A self-model that c
Page 41 and 42:
24 perspectives Brothers, L. (1997)
Page 43 and 44:
Page 45 and 46:
Page 47 and 48:
30 brains specificity and flexibili
Page 49 and 50:
32 brains It is useful to begin wit
Page 51 and 52:
34 brains the readout of that syste
Page 53 and 54:
36 brains A. 5 NH 4Cl Bacteria in c
Page 55 and 56:
38 brains Although instinctual beha
Page 57 and 58:
40 brains Motivated behavior requir
Page 59 and 60:
42 brains emerged through decades o
Page 61 and 62:
44 brains and gonadal and adrenal s
Page 63 and 64:
46 brains voluntary control of acti
Page 65 and 66:
48 brains A. Total cerebral input t
Page 67 and 68:
50 brains sensory neurons, interneu
Page 69 and 70:
52 brains functions. Niall (1982) n
Page 71 and 72:
54 brains motivation arousal necess
Page 73 and 74:
56 brains serotonergic system is pr
Page 75 and 76:
58 brains as tree jumping (Doudet e
Page 77 and 78:
60 brains then have a system that a
Page 79 and 80:
62 brains heroin and other opiates,
Page 81 and 82:
64 brains benefits that also presen
Page 83 and 84:
66 brains and brain neurotransmitte
Page 85 and 86:
68 brains Cardinaud, B., Gilbert, J
Page 87 and 88:
70 brains Hess, W. R. (1957). The f
Page 89 and 90:
72 brains MacLean, P. D. (1990). Th
Page 91 and 92:
74 brains Pfaus, J. G., Damsma, G.,
Page 93 and 94:
76 brains trained monkeys: Agonist
Page 95 and 96:
Page 97 and 98:
80 brains We conclude by discussing
Page 99 and 100:
82 brains to prove, theoretical dis
Page 101 and 102:
84 brains is a mammalian specializa
Page 103 and 104:
86 brains processing circuits to se
Page 105 and 106:
88 brains amygdala) and the control
Page 107 and 108:
90 brains comparison of the amygdal
Page 109 and 110:
92 brains Is the Amygdala Necessary
Page 111 and 112:
94 brains the amygdala to determine
Page 113 and 114:
96 brains The medial prefrontal cor
Page 115 and 116:
98 brains Many questions remain to
Page 117 and 118:
100 brains by the amygdala might be
Page 119 and 120:
102 brains United States, pair up w
Page 121 and 122:
104 brains networks that participat
Page 123 and 124:
106 brains Note Portions of this ch
Page 125 and 126:
108 brains Davidson, R. J., & Irwin
Page 127 and 128:
110 brains mediate emotional respon
Page 129 and 130:
112 brains Salinas, J. A. (1995). I
Page 131 and 132:
114 brains and thalamo-cortico-amyg
Page 133 and 134:
Page 135 and 136:
118 brains and flexible in the orbi
Page 137 and 138:
120 brains Pleasure Rage Anger Frus
Page 139 and 140:
122 brains of the eliciting stimulu
Page 141 and 142:
124 brains or a right turn to obtai
Page 143 and 144:
126 brains cortex and basal ganglia
Page 145 and 146:
128 brains tex of recent (episodic)
Page 147 and 148:
130 brains the right value in the c
Page 149 and 150:
132 brains by the process of condit
Page 151 and 152:
134 brains memories to be held in p
Page 153 and 154:
136 brains However, it may be expec
Page 155 and 156:
138 brains Figure 5.4. Some of the
Page 157 and 158:
140 brains acting through the ventr
Page 159 and 160:
142 brains (cutting white matter) w
Page 161 and 162:
144 brains References Alexander, R.
Page 163 and 164:
146 brains Rolls, E. T. (1999a). Th
Page 165 and 166:
148 brains directed to us or when t
Page 167 and 168:
150 brains Specific methods, partly
Page 169 and 170:
152 brains Movements performed by l
Page 171 and 172:
154 brains processing of invariant
Page 173 and 174:
156 brains more about them, their r
Page 175 and 176:
158 brains see Zajonc, 1985), the i
Page 177 and 178:
160 brains The question now arises
Page 179 and 180:
162 brains situations where they ha
Page 181 and 182:
164 brains Estimation of social con
Page 183 and 184:
166 brains Davies, M., & Stone, T.
Page 185 and 186:
168 brains Lhermitte, F. (1983). Ut
Page 187 and 188:
Page 189 and 190:
Page 191 and 192:
174 robots perform unanticipated ta
Page 193 and 194:
176 Table 7.1. Principal Organism F
Page 195 and 196:
178 robots and cognitive domains. A
Page 197 and 198:
180 robots that they are better tho
Page 199 and 200:
182 robots irregularities or discon
Page 201 and 202:
184 robots 3. A (positive) feeling
Page 203 and 204:
186 robots We consider the well-est
Page 205 and 206:
188 robots disturbed by the approac
Page 207 and 208:
190 robots processing. We view para
Page 209 and 210:
192 robots independent, a value on
Page 211 and 212:
194 robots Implications of the Proc
Page 213 and 214:
196 robots current affective state
Page 215 and 216:
198 robots primitive fear at the ro
Page 217 and 218:
200 robots Gray, J. A. (1990). Brai
Page 219 and 220:
202 robots cesses underlying approa
Page 221 and 222:
204 robots case of CogAff, conjectu
Page 223 and 224:
206 robots some cases and in other
Page 225 and 226:
208 robots DIRECT AND MEDIATED CONT
Page 227 and 228:
210 robots Toward a Useful Ontology
Page 229 and 230:
212 robots different varieties of m
Page 231 and 232:
214 robots Primitive sensors provid
Page 233 and 234:
216 robots Being in a state P of a
Page 235 and 236:
218 robots terms of the ability to
Page 237 and 238:
220 robots Varieties of Affective S
Page 239 and 240:
222 robots Central Perception Actio
Page 241 and 242:
224 robots control, where all the l
Page 243 and 244:
226 robots layer (e.g., observing p
Page 245 and 246:
228 robots are sometimes unclear, i
Page 247 and 248:
230 robots for such a fast-acting s
Page 249 and 250:
232 robots from mental processes ot
Page 251 and 252:
234 robots The majority view in thi
Page 253 and 254:
236 robots Will it be a long-term f
Page 255 and 256:
238 robots or implicitly adopted de
Page 257 and 258:
240 robots some undesirable emotion
Page 259 and 260:
242 robots References Albus, J. S.,
Page 261 and 262:
244 robots Sloman, A. (2001b). Evol
Page 263 and 264: 246 robots state variables such as
Page 265 and 266: 248 robots In order to make robots
Page 267 and 268: 250 robots motivational state also
Page 269 and 270: 252 robots Prey acquisition: This b
Page 271 and 272: 254 robots Figure 9.3. Top photos:
Page 273 and 274: 256 robots especially when young. E
Page 275 and 276: 258 robots Object of Attachment Saf
Page 277 and 278: 260 robots Mean distance to attachm
Page 279 and 280: 262 robots 2003), but the intent is
Page 281 and 282: 264 robots Affective State Emotion
Page 283 and 284: 266 robots Motivational/emotional m
Page 285 and 286: 268 robots Brooks, R. (1986). A rob
Page 287 and 288: This page intentionally left blank
Page 289 and 290: 272 robots responsible for perceivi
Page 291 and 292: 274 robots species considered to be
Page 293 and 294: 276 robots This endeavor does not i
Page 295 and 296: 278 robots For example, the person
Page 297 and 298: 280 robots mental states (i.e., int
Page 299 and 300: 282 robots Expression of Affective
Page 301 and 302: 284 robots Negative valence High ar
Page 303 and 304: 286 robots and emotion-related proc
Page 305 and 306: 288 robots For instance, the visual
Page 307 and 308: 290 robots Undesired stimulus Rejec
Page 309 and 310: 292 robots intensity: seek or acqui
Page 311 and 312: 294 robots Table 10.2. Summary of t
Page 313: 296 robots it up (Breazeal, 2002b).
Page 317 and 318: 300 robots Table 10.3. Overall Clas
Page 319 and 320: 302 robots Each emotion gateway pro
Page 321 and 322: 304 robots Biasing Attention Kismet
Page 323 and 324: 306 robots be to vocalize to the pe
Page 325 and 326: 308 robots References Ackerman, B.,
Page 327 and 328: 310 robots Center for the Study of
Page 329 and 330: 312 robots When team members align
Page 331 and 332: 314 robots effects that the agent h
Page 333 and 334: 316 robots double arrow), which imp
Page 335 and 336: 318 robots that of “robot as avat
Page 337 and 338: 320 robots terms of specific apprai
Page 339 and 340: 322 robots their own self-survival
Page 341 and 342: 324 robots explicit, intended commu
Page 343 and 344: 326 robots Although, the emotion
Page 345 and 346: 328 robots planning. In Proceedings
Page 351 and 352: 334 conclusions handout and pleased
Page 353 and 354: 336 conclusions emotion. How can we
Page 355 and 356: 338 conclusions Presumably, the fac
Page 357 and 358: 340 conclusions Absence of N and N
Page 359 and 360: 342 conclusions Thus, evolution yie
Page 361 and 362: 344 conclusions different from such
Page 363 and 364: 346 conclusions approach to the soc
Page 365 and 366:
348 conclusions at the much higher
Page 367 and 368:
350 conclusions mediated by distrib
Page 369 and 370:
352 conclusions to the prefrontal c
Page 371 and 372:
354 conclusions pathway of much mor
Page 373 and 374:
356 conclusions The Motivated Toad
Page 375 and 376:
358 conclusions explicitly formal r
Page 377 and 378:
360 conclusions directly and by pro
Page 379 and 380:
362 conclusions striatum pallidum d
Page 381 and 382:
364 conclusions (A) Auditory stimul
Page 383 and 384:
366 conclusions from the primary ta
Page 385 and 386:
368 conclusions by an interest in u
Page 387 and 388:
370 conclusions he sees as the stat
Page 389 and 390:
372 conclusions to detect possible
Page 391 and 392:
374 conclusions much of my behavior
Page 393 and 394:
376 conclusions Consider a robot th
Page 395 and 396:
378 conclusions 3. As already noted
Page 397 and 398:
380 conclusions Fellous, J.-M., & S
Page 399 and 400:
382 conclusions Localization of gra
Page 401 and 402:
Page 403 and 404:
386 index amygdala back projection,
Page 405 and 406:
388 index cognition (continued) evo
Page 407 and 408:
390 index emotion research (continu
Page 409 and 410:
392 index fear conditioning (contin
Page 411 and 412:
394 index limbic system theory, 80-
Page 413 and 414:
396 index prefrontal cortex and the
Page 415 and 416:
398 index schema theory and Jackson
show all

Who Needs Emotions? The Brain Meets the Robot

Create successful ePaper yourself

Delete template?

Save as template?