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Comparative Approaches to Emotion-Oriented Architectures (WP 7: Emotion in Cognition and Action)

Comparative Approaches to Emotion-Oriented Architectures (WP 7: Emotion in Cognition and Action) Last Plenary :-/ :-) Lola Ca ñamero (UH). Plenary 3, 4-6 June 2007, Paris, France. WP7: The area. Scope : investigating computational models of emotional influences in cognition and action

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Comparative Approaches to Emotion-Oriented Architectures (WP 7: Emotion in Cognition and Action)

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  1. Comparative Approaches to Emotion-Oriented Architectures (WP 7: Emotion in Cognition and Action) Last Plenary :-/ :-) Lola Cañamero (UH) Plenary 3, 4-6 June 2007, Paris, France

  2. WP7: The area • Scope: investigating computational models of emotional influences in cognition and action • Enhance behavior & interactions of emotion-oriented systems • Feedback to emotion theorists (synthetic approach, operationalize) • Exemplar: • Comparative approaches to emotion-oriented architectures: assumptions, integration challenges, and guidelines for future research => Output: edited collection • Divided in 4 elements: • Emotion in embodied cognition and action • Emotion in reflective cognition and action • Emotions in bridging the gap between embodied and reflective C&A • Emotions in social cognition and interaction • Groups: UH, OFAI, Bari, Paris8, DIST, GERG, HW, EMPL38, CNR, USC, ICCS, KCL, UM, INESC-IST, EFPL, Miralab, FT-RD, UOXF, USFD humaineWP7: Emotion in Cognition and Action

  3. 1 2 3 4 4 WP7 Exemplar: the four elements humaineWP7: Emotion in Cognition and Action

  4. Where are we? exemplar timeline Stage 1: Critical analysis of state of the art and needs Months 1 - 18: iterations to define problems and exemplar; uncover assumptions and needs Stage 2: Integration challenges and key development goals Month 19: workshop Months 19-39: theoretical and practical work on integration challenges Stage 3: Conclusions and guidelines for future research Month 40: start developing “guidelines” for future research; chapter proposals and abstracts => moved to earlier date (D7e, Month 35) Month 42 (JUNE 15!!!!!): drafts of chapters due Months 43-48: chapters reviewed and revised Month 48: book to publisher humaineWP7: Emotion in Cognition and Action

  5. Months 1-5 (D7b): state of the art, analysis (1) • Review of key achievements: • Emotion-based architectures (action selection, learning, memory) • Appraisal and cognitive systems • User modeling • ECAs and virtual environments • Key conceptual problems • Mechanisms underlying the involvement of emotions in cognition and action • Emotion elicitors (which factors activate those mechanisms?) • Emotions as cognitive modes • Relations among emotion, value systems, motivation and action humaineWP7: Emotion in Cognition and Action

  6. Months 1-5 (D7b): state of the art, analysis (2) • Key integration challenges • Problems arising from theories and models (diversity, poor understanding) • Diversity of computational frameworks & modeling approaches • Embodied AI, dynamical systems • Symbolic AI • Hybrid systems • Social simulation • Key development goals • “Grounding problem” of artificial emotions • Dissolving the “mind-body” problem • Untangling the “knot of cognition”: links emotion – intelligence • Measuring progress & the contributions of emotions to our systems humaineWP7: Emotion in Cognition and Action

  7. Months 6-11 (D7c): approach to exemplar • Best approach to fulfill horizontal goals in our area: • Comparative approaches to emotion-oriented architectures: assumptions, integration challenges, and guidelines for future research • Key ideas: • “Comparative approaches” • welcome the diversity of conceptual and computational models and frameworks • de-emphasize idea of a “unified” model for an emotion-based architecture (misleading goal at this point) -> complements “blueprint” • “Assumptions, integration challenges and guidelines for future research” stresses the nature of our principled integration effort in setting sound grounds humaineWP7: Emotion in Cognition and Action

  8. Months 6-11 (D7c): elements of exemplar • Focused working groups, integration at various levels: • WG1: Emotion in “lower-lever” cognition and action • UH, GERG, CNRS EPML 38, KCL • WG2: Emotion in “higher-level” cognition and action • Uni. Bari, France Telecom RD, GERG, CNR-ISTC, QUB, UA • WG3: Bridging gap between “lower-” and “higher-level” C & A • OFAI, HW, INESC-ID, IST, EPFL, USC • WG4: Emotion in Social Cognition and Interaction • OFAI, UH, Paris8, MIRALab, DIST, DFKI • Output: • Edited book • Reflection based on “proof-of-concept” designs and implementations humaineWP7: Emotion in Cognition and Action

  9. Support to Network activities • Presentations (posters) at Plenary 1 • Presentations at WP3 workshop: “Contributions from robotic models of emotions” & several “hands-on demonstrations” • Presentations at WP4 workshop: links wp7-wp4, Markov-based analysis • Presentations & posters at WP6 workshop (ToM, affect-based imitation) • Cross-WPs links (meetings in Saarbruecken, Geneva, Santorini, Paris): • WP3, blueprint; conceptual clarification • WP4, constraints from cognition-action to signals/signs processing • WP6, integration internal models-expressive behaviors • WP8, mental states underlying external manifestations of persuasion • Co-organization (with WP3) of symposium on architectures of computational models at Plenary 2, May 2005 • Working visits (UH & OFAI to GERG & MIRALab, etc) • Support actions (sessions) to WPs 3, 6, 8 planed at workshop (July 2005) humaineWP7: Emotion in Cognition and Action

  10. Dissemination & “external” activities • Symposium “Architectures for Modeling Emotion”, AAAI Spring Symposium, Stanford, March 2004 • Symposium “Dimensions of Sociality”, Vienna, Nov. 2004 • Symposium “Motivational and Emotional Roots of Cognition and Action”, AISB’05 @ UH, April 2005 • Symposium “Mind-Minding Agents”, AISB’05 • Co-organization (with WP3) symposium “Architecture of Computational Models” at ISRE in Bari, July 2005 • Co-edition (with WP6) special issue Humanoid Robots • Various press reports, numerous scientific articles published or submitted (e.g. contribution to special issue NNets) humaineWP7: Emotion in Cognition and Action

  11. Input from March 2005 project review • No “recommendations” for WP7 but some “comments”: • C1: Establish more clearly synergies with other WPs • WP3: interplay theories / implementations meetings • WP6 (+WP4): complementarity towards human-like capabilities (special issue); emotion-attention interplay for social interaction • WP8: cognitive emotion models for dialog, communication, persuasion • WP10: working towards standards (joint handbook chapter); ethics • C2: Distinction between “lower-level” and “higher-level” misleading • Elements renamed to make focus more precise and avoid confusion • C3: Provide more details on plans to “bridge the gap” • Element 3 re-structured and made more concrete • C4: Robotic implementations shouldn’t be toy demonstrations of problems • Closer integration with emotion theory and formal analysis • More prominent use of ECAs humaineWP7: Emotion in Cognition and Action

  12. Core achievements in 2005 • Definition of exemplar (D7d) • WP 7 workshop, London, July 2005 (D7a) • Other workshops to develop/support WP7 exemplar but not funded by HUMAINE • New partner (CNRS-EPML38, development), involvement of other new partners (USC, CNR) • Contribution to 2005 “high quality” dissemination deliverable and co-edition of 2006 one • Joint conceptual, design, implementation work • Publications • Other dissemination activities and esteem factors humaineWP7: Emotion in Cognition and Action

  13. Feedback from March 2006 review • Develop potential synergies with other projects • IST’06 Networking Session • Further improve links with the other workpackages and provide clear assessment means of this progress • Co-edition of special journal issue with WP6 • Cross-currents symposium • ACE’06 symposium • Involvement of WP4 in follow-up proposal humaineWP7: Emotion in Cognition and Action

  14. Core achievements in 2006 • Good progress in the 4 elements of the exemplar • Increased links with other WPs & projects • Sessions: Cross-currents, Summer School, IST’06, ACE’06 • Co-edition of 2006 “high quality” dissemination deliverable with WP6 (IJHR special issue) • Publications • 9 joint (4 journal, 5 conf / wksp), 21 single institution (8 journal, 13 conf / w) • Outline book submissions • Other dissemination activities and esteem factors • Edition (4), conf. organization (ACII, ACE, Ro-Man, EpiRob), inv. talks (10) • Follow-up project merging E1 + E4 (+ WP4-WP6): FEELIX GROWING humaineWP7: Emotion in Cognition and Action

  15. E1: Emotion in embodied cognition and action • Interactions between emotion & cognition-action as occurring through the “body” • UH, EPML38, Paris8, KCL , GERG • Subtasks: • E1.1 – Emotional modulation of perception-action in embodied agents: proximal causes, development, evolution • E1.2 – Analysis of embodied emotion-oriented architectures and behavior of robots: ethological + mathematical • E1.3 – Novelty detection and emotion-attention interactions (ECAs) humaineWP7: Emotion in Cognition and Action

  16. Bumper Bavoid Actuator Sensors External Stimulus Bsearch Fixed Nodes Possible Initial Network sfood Motivations E E Bfeed Mfatigue D D sheat Bwarmup Internal Sensors Depot Node Mcold denergy Behaviors dtemp Physiology Modulation of Per-Ac loops Evolution Proximal causation Development humaineWP7: Emotion in Cognition and Action

  17. E2: Emotion in reflective cognition and action • Influence of emotions in cognition-action from the perspective of subjective perception and reasoning (introspection, linguistic accounts) • Bari, CNR, FT-RD, UM, USC • Subtasks: • Role of BDI&E models and relation to rationality and psych. theory: • Emotional conflict, cognitive dissonance • Emotion and anticipation • Validation of cognitive models of emotion activation by means of ‘sensitivity analysis’ & their extension to the ‘interpretation’ of emotional expressions displayed by the user • Application & comparison of models for emotion activation and recognition to dialogs humaineWP7: Emotion in Cognition and Action

  18. Setting a personality set and a context set Selecting a context Firing the event and a personality Selecting an event Mind at T0 Simulation history Dynamic Emotion table Emotional Mind humaineWP7: Emotion in Cognition and Action

  19. Emotional Mind in action humaineWP7: Emotion in Cognition and Action

  20. E3: Emotions in bridging gap • Role of emotions in relating behavioral meaning and symbolic representations • OFAI, HW, USC, INESC, IST; GERG, KCL, UOXF, UM • Subtasks: • E3.1 – A scenario-based survey of bridging functions of emotions • E3.2 – Improving upon symbolic models of reflective cognition & action • E3.3 – Improving upon embodied models of cognition & action • E3.4 – Bridging the gap between micro- (individual-based) and macro- (social) views on social functions of emotion humaineWP7: Emotion in Cognition and Action

  21. Scenario-based evaluation and design • Goal: Understand state of modeling across different disciplines • Challenge: Substantial differences in concrete scenarios addressed (over 12). Different affect-related phenomena modeled at different granularities in settings of different complexity • Approach: to compare systems, the functional role of “emotion” (use of term) must be explicated • Focus on architectural building blocks: • Data structures, processes, interactions between processes • Fixed vs. dynamic/implicit paths of communication • Explicit differentiation of contexts of information processing (“modules”, “levels”, “stages”,…) • Bridging between such contexts • Derive best practices for the development of computational models of emotion humaineWP7: Emotion in Cognition and Action

  22. Meta-Processes Processes Resources Improving upon symbolic reflective models • Suitable building blocks to model emotional processes? • Question foundations of symbolic architectures: symbolic “shortcuts” need to be motivated explicitly • Parallel embodied processes as basic behavioral components • Challenge: realize reflective and symbolic processes “on top” • Concurrent processes and resource management humaineWP7: Emotion in Cognition and Action

  23. AutobiographicMemory Model(Wan Ching Ho) Synthetic GroupDynamics EmotionalParameters Improving upon embodied models • Further extension of previous work on emergent affective and personality model that integrates perception, motivation, action selection, planning and memory • Autobiographical memory • Group level dynamics humaineWP7: Emotion in Cognition and Action

  24. Bridging micro-macro gap • From inwards-oriented appraisal towards social-communicative behavior • Social emotions as result of supra-individual process of co-regulated reactions • Extension of appraisal theory model • Assessment of sequential evaluation check model • Improving sensing and rapidly reacting to human emotional signals • Integration of socially situated theory emphasizing centrality of social goals and contingent behavior • Planned workshop (October 2007, USC/ISI) humaineWP7: Emotion in Cognition and Action

  25. E4: emotions in social cognition and interaction • Roles of emotions in social cognition and interaction; emotions, cognition and action not modeled from the perspective of the individual but of the interaction itself. • OFAI,MIRALab, EPFL, ICCS-NTUA, DIST, UH, EPML-38, UBari, CNR, U. Sheffield • Subtasks: • E4.1 – Towards socially meaningful emotional agents: Closing the emotion recognition-generation-expression loop • E4.2 – Socially situated nature of emotions: Socially situated affective dialogue humaineWP7: Emotion in Cognition and Action

  26. Closing the emotion rec-gen-exp loop Emotion recognition from full body motion ECA copying observed expressive gestures humaineWP7: Emotion in Cognition and Action

  27. Description of the set up Measure of motoric activation: 4 special videocameras (50fps) Audio: recording of both direct violin and in ambience Physiological data (BioMuse): ECG (Electrocardiogram) EMG (Electromyogram) Multimodal integration: Data Synchronization and Analysis (EyesWeb XMI) Stimulus material : Canon from the Musical Offering (J.S Bach) The Premio Paganini experiment humaineWP7: Emotion in Cognition and Action

  28. Cross-currents symposium, June 2006 • Dynamical systems as a framework to bridge gaps in emotion research? L. Cañamero (UH, coord), R. te Boekhorst (UH), A. Flykt (Mid Sweden U), P. Gaussier (EPML38), N. Korsten (KCL) • Closing the emotion recognition-generation-expression loop J. Gratch (USC, coord), A. Blanchard (UH), G. Castellano (DIST), A. Egges (Miralab), K. Karpouizis (ICCS), C. Peters (Paris8) • Beyond the blackbox vs process models alternative: reflective emotion models in comparison, with their mental ingredients, grain size, application perspectives and limits F. de Rosis (Bari, coord), Peter Goldie (UM), Stacy Marsella (USC), Sabine Payr (OFAI), Isabella Poggi (CNR) • Avenues to bridge gaps between "embodied" and "reflective" systems P. Petta (OFAI, coord), Nienke Korsten (KCL), Robert Marsh (UH), Sandy Louchart (HW), Fiorella de Rosis (Bari) humaineWP7: Emotion in Cognition and Action

  29. Networking Session @ IST06 • “Embodied Emotion, Cognition and Action for Autonomous and Interactive Artifacts” • Aims: • provide framework to explore opportunities for interaction among projects with a common interest in embodied emotion and cognition • draft a longer-term “research agenda” for this area • Presentations FP6 projects: HUMAINE, euCognition, ICEA, ENACTIVE, MindRACES, S2S2, TAI-CHI, CALLAS • Challenges, needs and other projects identified • Over 100 participants • Follow-up session @ Plenary07 humaineWP7: Emotion in Cognition and Action

  30. Book: proposed submissions • 4 chapters from E1: • (1) modulation Per-Ac loops; (2) neuromodulation; (3) dynamical systems analysis; (4) novelty and attention • 3 chapters E2: • (5) emotional conflict; (6) empathic dialogue agent; (7) emotion and anticipation • 4 chapters E3: • (8) AS architecture for virtual humans; (9) hybrid affective mind; (10) improving upon symbolic models; (11) improving upon embodied models • 5 chapters E4: • (12) emotion sharing & understanding; (13) PerAc models of imitation; (14) analysis of movement dynamics for emotion recognition; (15) full-body motion and gesture analysis for recognition; (16) socially situated affective dialogue • External input to each section humaineWP7: Emotion in Cognition and Action

  31. ICCS Socio-emotional development FEEL, Interact, eXpress: a Global appRoach to develOpment With INterdisciplinary Grounding FP6-IST-045169, December 2006 – May 2010 humaineWP7: Emotion in Cognition and Action

  32. Objectives • Identification of key evaluation scenarios (types of problems) in global socially situated development of autonomous agents • identify cross-disciplinary benchmarks (scenarios and methods) for a comparative evaluation • Investigation of the roles of emotion, interaction, expression and their interplays in bootstrapping & driving socially situated development • implementation and testing of robotic systems that improve existing work • Integration of: (a) the above “capabilities” in at least 2 different robotic prototypes, and (b) feedback across the disciplines involved • platform for grounded long-term multidisciplinary research (roadmap) • Identification of needs towards achieving standards in: • (a) design of scenarios and problem typologies, • (b) evaluation metrics, • (c) design of everyday robotic platforms and related technology. humaineWP7: Emotion in Cognition and Action

  33. WP4: “Feel” and development • Tasks • Cross-disciplin. training & critical analysis models of emotion in development • Sample key work in psychology to inspire / support robotic studies • Emotion elicitation in spontaneous vs induced imitation • Roles of + & - emotion in attachment and emotion regulation • Implementing & testing in robots selected key aspects: • Hedonic processes and their roles in motivation and emotion regulation in social interaction • Selected mechanisms for the detection / recognition of emotions in social interactions (modal & amodal) • Attachment processes & their roles in exploration, learning and adaptation to social environment humaineWP7: Emotion in Cognition and Action

  34. “Interact” and development • Tasks • Cross-disciplin. critical analysis models of interaction in development • Sample key work in psychology to inspire / support robotic studies • Emotions in social referencing • Emotion in joint attention (chimps w differential rearing conditions) • Implementing & testing in robots selected key aspects: • Joint attention, particularly the role of gaze direction • Task learning by observation/imitation; effect of (emotional) user feedback • Interaction and “emotional resonance” humaineWP7: Emotion in Cognition and Action

  35. “Express” and development • Tasks • Cross-disciplinary critical analysis models of expression in development • Sample key work in psychology to inspire / support robotic studies • Normal & impaired development of emotional resonance & recognition • Perception of emotion in human vs robot • Use of FACS for robots • Implementing & testing in robots selected key aspects: • Development of emotional expression related to social interaction • Use of expression as signalling for communication (no link to “internal” emotional state) • Use of expression as manifestation of an “internal” emotional state humaineWP7: Emotion in Cognition and Action

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