2nd Test

Question 1

Properties of Motion

Answer 1

Safety: motion should be safe and not harm humans

Functionality & Eficiency : the motion should allow the task to be perform, taking into account that the human is acting in the world and optimizing the motion for task at hand

Predictability & Legibility: the motion should be what the user expects. The collaboratory should be able to recognize the intent of the robot

Believability: the motion gives illusion of live

Social & Culturally adjusted : the motion should respect the social and cultural norms of human-human interaction

Question 2

Types of motion

Answer 2

Functional motion: motion that reaches its goal, avoiding collisions

Predictable motion: motion performed by the robot that is expected

Legible motion: functional motion in which the collaborator can quickly and confidently infer the goal

Question 3

Disney animation principles

Answer 3

Squash and stretch : hard due to the robots rigid parts

Anticipation: allows the viewer to understand what the character is going to do ; allows the viewer to interpret the character in a more natural way

Secondary actions: aids in making it more believable

Arcs: states that movement should be done in arcs to look more natural

Exaggeration: enphasize the robots movements and expressions to make it more convincing

Question 4

Goal oriented skill vs mean oriented skill

Answer 4

Goal oriented skill - related with achieving a particular world state

Mean oriented skill- include a gesture or communicative intent

Question 5

What are the emotional social robots ?

Answer 5

Emotional Social Robots are social robots that respond emotionally to certain situations

Question 6

What is the James Lange Theory

Answer 6

States that emotions are a result of a physiological response to stimuli

Question 7

Verbal Communication systems- definitions

Answer 7

Dialogue modelling - formal characterization of dialogue, envolving context, and possibly continuations

Dialogue system - system that engages in dialogue

Dialogue manager - module of the system concerned with managing dialogue and decisions on how to contribute to a conversation

Question 8

KnowDiaL

Answer 8

input
parser
grounding model : gets information from KB on hoe to infer the correct action upon a taken command
knowledge base : stores groundings of previous dialogues
dialogue manager - asks openeval to search on World Wide Web the missing parameters from the grounding model
openeval

Question 9

What are the components of dialogue system

Answer 9

Perceive and Understand
-> NL system : generator using developed grammar for human robot interaction
-> Speech recognizer

Generate and Shynthesize:
-> NL system
-> TTS : speech shynthesizer for robot speech

Manage dialogue and Non verbal behaviours
-> Dialogue Manager
-> Gestures and non-verbal behaviour handler

Question 10

What are the mechanisms for managing conversations

Answer 10

Role signaling mechanism: interlocutors of conversations engage in a discourse at different levels of involvement

Turn taking: role shifts from participants through a turn taking mechanism

Topic Signaling mechanism: the speakers create a discourse, which is a combination of discourse segments in structures. Speakers create a number of cues (verbal and non verbal) that signal these structures and allows the contribution of other participants

Question 11

How does interaction analysis work?

Answer 11

Using objects affordances to anticipate the humans next move, allowing the robot to plan ahead for a more reactive response

Using simulation theory for intention recognition. Simulation theory states that people atribute mental states using their own mental processes

Question 12

Learning from demonstrations

Answer 12

Key idea: maximize the generalization of a learnt skill to unseen situations using a minimal number of demonstrations provided by the teacher

Mapping Function: Demonstration data is used to approximate a function mapping the robots state observations to actions

System model: Demonstration data is use dto determine a possdible reward function. Policies are later derived from this info

Plans : Demonstrations data is used to learn rules that associate a set of pre and post conditions to each actions and possibly a sparsified state dynamic model

Question 13

What is the correspondence problem

Answer 13

Refers to the problem of indentification of a mapping that allows the transfer of information from the teacher to the learner.

Question 14

Record Mapping vs Embodiment Mapping

Answer 14

Record Mapping referes to whether the exact actions experiencied by the teacher during the demonstration execution are recording within the data set

Embodiment Mapping refers to whether the actions recorded within the data set would be exactly those that the learner would learn

Question 15

Record Mapping vs Embodiment Mapping

Answer 15

Record Mapping referes to whether the exact actions experiencied by the teacher during the demonstration execution are recording within the data set

Embodiment Mapping refers to whether the actions recorded within the data set would be exactly those that the learner would learn

Question 16

Active learning

Answer 16

allows for one to have more control over what examples is given

Question 17

Queries

Answer 17

A Querie is when we choose an unlabed instance and ask for a label or when we ask for an action in a choosen state

Label queries: robot performs a said actions and inquires if it was done correctly

Demonstration queries: the robot asks for a demonstration from the user

Feature queries: involves asking if a particular feature is relevant for the learnt skill

Question 18

What are the trust related characteristics?

Answer 18

Competence - the trustee competence in performing an action effectively

Predictability - the trustee competence in performing an action as it is expected

Benevolence - the trustee intrinsic and positive intentions towards the trustor

Integrity- the trustee’s adherence to a set of principles accepted by the trustor

Question 19

Trust vs Trustworthiness

Answer 19

trust is in the relation
trustworthiness is a property of the trustee

Question 20

Disposition to trust a robot

Answer 20

the extend to which the user displays a consistent disposition to willingly depend on the robot in certain situations

Question 21

Situation-based trust

Answer 21

when the user believes the needed conditions are in place for him to predict a sucessful outcome by the robots actions

Question 22

Types of gaze

Answer 22

mutual gaze : the gaze of each individual is in one another
gaze following: a understands that b’s gaze is not on them and follows b’s line of sight on to a point in space
joint attention: similar to gaze following but there is a focus of attention
shared attention: composition of gaze following and joint attention, the individuals gaze is in each other and in an object

theory of mind: composition of the above and uses higher order cognitive processes to infer about the other attention

Question 23

Taxonomy of gaze

Answer 23

mutual gaze: eye gaze of one individual is on the others eyes or face
referential attention: gaze is in a location or point in space
joint attention
adverting gaze: shifts of gaze away from the main direction of the gaze

Question 24

Types of nonverbal behaviour

Answer 24

Emblems: gestures that can be directly translated into words and have different meanings across cultures

Illustrators/Iconic Gestures: gestures or expressions that accompany speech to make it more vivid

Regulators: non verbal behaviours that regulate conversation

Self-adaptor: unconscious behaviours that release nervous energy

display of emotions

Question 25

Automated Face Analysis

Answer 25

Input
Facial landmark detection : tracks a dense set of facial featurs

Face alignment: Removes the effects of spatial variations ; obtains canonical shape and orientation; aligns shape model with unseen images

Feature extraction: composition of landmarks and relation between them

Dimensionality reduction

Action Unit Classification
-> Static modeling: each videoframe is evaluated independently
-> Temporal modeling: the frames are segmented in to sequences and modelled with a dynamic bayesian model