Toyoaki Nishida Kyoto University - 京都大学 · PDF file1970 The world’s first face recognition system by Takeo Kanade ... - Entertainment and Cognitive Science, ... Robot pet

Artificial Intelligence Adv., October 2nd, 2013

Copyright © 2013 Toyoaki Nishida All Rights Reserved.

1. Introduction

Toyoaki Nishida Kyoto University

Conversational Informatics: a field of study that centers on understanding and augmenting conversation

Prologue

At a marketplace

Under cherry blossom

At a seminar room

Conversation is everywhere in our life

Challenge: A robot that can participate in conversation

Long-term goal

Challenge: Synthetic character who guides the user through the virtual world

Long-term goal

What is AI?

Artificial intelligence

Artificial mind

Example → Enthiran (The Robot), 2010

AI in the movies Year Title Who Wikipedia

1968 2001: A Space Odyssey HAL9000 http://ja.wikipedia.org/wiki/2001%E5%B9%B4%E5%AE%87%E5%AE%99%E3%81%AE%E6%97%85

1977 Star Wars C-3PO, R2-D2 http://ja.wikipedia.org/wiki/%E3%82%B9%E3%82%BF%E3%83%BC%E3%83%BB%E3%82%A6%E3%82%A9%E3%83%BC%E3%82%BA%E3%83%BB%E3%82%B7%E3%83%AA%E3%83%BC%E3%82%BA

1982 Blade Runner Replicants http://ja.wikipedia.org/wiki/%E3%83%96%E3%83%AC%E3%83%BC%E3%83%89%E3%83%A9%E3%83%B3%E3%83%8A%E3%83%BC

1984 The Terminator The terminator http://ja.wikipedia.org/wiki/%E3%82%BF%E3%83%BC%E3%83%9F%E3%83%8D%E3%83%BC%E3%82%BF%E3%83%BC_(%E6%98%A0%E7%94%BB)

1987 RoboCop RoboCop (cyborg) http://ja.wikipedia.org/wiki/%E3%83%AD%E3%83%9C%E3%82%B3%E3%83%83%E3%83%97

1993 War Games WOPR: War Operation Plan Response

http://ja.wikipedia.org/wiki/%E3%82%A6%E3%82%A9%E3%83%BC%E3%83%BB%E3%82%B2%E3%83%BC%E3%83%A0_(%E6%98%A0%E7%94%BB)

1994 Disclosure Angel http://ja.wikipedia.org/wiki/%E3%83%87%E3%82%A3%E3%82%B9%E3%82%AF%E3%83%AD%E3%83%BC%E3%82%B8%E3%83%A3%E3%83%BC_(%E6%98%A0%E7%94%BB)

1998 Bicentennial Man Andrew, a new NDR-114 robot http://ja.wikipedia.org/wiki/%E3%82%A2%E3%83%B3%E3%83%89%E3%83%AA%E3%83%A5%E3%83%BCNDR114

1999 The Matrix Computer http://ja.wikipedia.org/wiki/%E3%83%9E%E3%83%88%E3%83%AA%E3%83%83%E3%82%AF%E3%82%B9_(%E6%98%A0%E7%94%BB)

2001 A.I. Artificial Intelligence David , achild Mecha http://ja.wikipedia.org/wiki/A.I.

2002 Minority Report Insect robots (user interface is interesting, too)

http://ja.wikipedia.org/wiki/%E3%83%9E%E3%82%A4%E3%83%8E%E3%83%AA%E3%83%86%E3%82%A3%E3%83%BB%E3%83%AA%E3%83%9D%E3%83%BC%E3%83%88

2004 I, ROBOT V.I.K.I . , Sonny http://ja.wikipedia.org/wiki/%E3%82%A2%E3%82%A4,%E3%83%AD%E3%83%9C%E3%83%83%E3%83%88

2009 ATOM Astro boy Astro boy http://ja.wikipedia.org/wiki/ATOM_(%E6%98%A0%E7%94%BB)

2009 Avatar (tele-existence) http://ja.wikipedia.org/wiki/%E3%82%A2%E3%83%90%E3%82%BF%E3%83%BC

2009 Surrogate (tele-existence) http://ja.wikipedia.org/wiki/%E3%82%B5%E3%83%AD%E3%82%B2%E3%83%BC%E3%83%88_(%E6%98%A0%E7%94%BB)

Year AI ICT 1940～ 1936: Turing Machine, 1947: von Neumann Computer, 1948: Information

Theory, by C. Shannon and W. Weaver, 1948: Cybernetics by Wiener

1950～ 1952-62: Checker program by A.Samuel 1956: Dartmouth Conference

1957: FORTRAN by J.Backus

1960～ 1961: Symbolic Integration program SAINT by J.Slagle 1962: Perceptron by F.Rosenblatt 1966: The ALPAC report against Machine Translation by R. Pierce 1967: Formula Manipulation System Macsyma by J.Moses 1967: Dendral for Mass Spectrum Analysis by E.Feigenbaum

1961: Mathematical theory of Packet Networks by L. Kleinrock 1963: Interactive Computer Graphics by I.Sutherland 1968: Mouse and Bitmap display for oN Line System (NLS) by D.C.Engelbart 1969: ARPA-net

1970～

1971: Natural Language Dialogue System SHRDLU, by T.Winograd 1973: Combinatorial Explosion problem pointed out in The Lighthill report 1974: MYCIN by T.Shortliffe Mid 1970’s: Prial Sketch and Visual Perceptron by D.Marr 1976: Automated Mathematician (AM) by D.Lenat 1979: Autonomous Vehicle Stanford Cart by H.Moravec

1970: ALOHAnet 1970: Relational Database Theory by E.F.Codd 1972: Theory of NP-completeness by S.Cook and R.Karp Mid 1970’s: Alto Machine by A.Kay and A.Goldberg 1976: Ethernet 1979: Spreadsheet Program Visicalc by D.Bricklin

1980～

1982: Fifth Generation Computer Project 1984: The CYC Project by D.Lenat Mid 1980’s: Back-propagation algorithm was widely used 1985: the Cybernetic Artist Aaron by H.Cohen 1986: Subsumption Architecture by R.Brooks 1989: An Autonomous Vehicle ALVINN by D.Pomerleau

1982:TCP/IP Protocol by B.Kahn and V.Cerf Mid 1980’s: First Wireless Tag Products 1987: UUNET started the Commercial UUCP Network Connection Service 1988: Internet worm (Morris Worm) 1989: World Wide Web by T.Berners-Lee 1989: The number of hosts on the Internet has exceeded 100,000.

1990～

1990: Genetic Programming by J.R.Koza Early1990’s: TD-Gammon by G.Tesauro Mid 1990’s: Data Mining Technology 1997: DeepBlue defeated the World Chess Champion G.Kasparov 1997: The First Robocup by H.Kitano 1999: Robot pets became commercially available

1992: The number of hosts on the Internet has exceeded 1,000,000. 1994: Shopping malls on the Internet 1994: W3C was founded by T. Berners-Lee 1997: Google Search 1998: XML1.0（eXtensible Markup Language) by W3C 1998: PayPal

2000～ 2000: Honda Asimo 2004: The Mars Exploration Rovers (Spirit & Opportunity)

2001: Wikipedia. 2003: Skype / iTunes store 2004: Facebook 2005: YouTube / Google Earth 2006: Twitter 2007: Google Street View

2010～ 2010: Google Driverless Car / Kinect 2011: IBM Watson Jeopardy defeated two of the greatest champions 2012: Siri

History of AI research in contrast with ICT

1960 Prof. Toshiyuki Sakai’s group at Kyoto

1961 Sonotype: phonetic typewriter by Shuji Doshita

1970 The world’s first face recognition system by Takeo Kanade

1979 Japanese Word Processor JW-10 by Toshiba

1997 1st Robocup games and conference at Nagoya, Japan

1979 IJCAI 79 (Tokyo)

1997 IJCAI 97 (Nagoya)

1982-1992 Fifth Generation Project 1986 JSAI (Japanese Society for AI)

1990 1st PRICAI (Nagoya, Japan)

1970’s Research groups for AI were formed in Tokyo, Osaka, Kyushu

1960’s Image Understanding and NLP by Makoto Nagao

Successful Topics of AI

Large-scale Search Knowledge-based Systems Language, Speech, Vision Planning Machine Learning and Data Mining Using AI in Creating Works of Art

AARON (1985)

The Mars Exploration Rovers (2003)

Experiments in Musical Intelligence (1987)

DeepBlue (1997) http://www.research.ibm.com/deepblue/

http://marsrovers.jpl.nasa.gov/mission/spacecraft_surface_rover.html

http://www.kurzweilcyberart.com/

http://arts.ucsc.edu/faculty/cope/ http://artsites.ucsc.edu/faculty/cope/mp3page.htm

IBM Watson (2011) http://www-03.ibm.com/innovation/us/watson/index.shtml

ALVINN （An Autonomous Land Vehicle in a Neural Network） on Navlab (1989) http://dl.acm.org/citation.cfm?id=89891

Autonomous Vehicles - Lego Robots (1998 -) - European Land-Robot Trial (2006-) (original source not found) - DARPA Urban Challenge (2007-) -The Microtransat Challenge: a transatlantic race of fully autonomous sailing boats. (2006-) - Aerial Robotics (Sept. 28, 2011) Chess (competition ended) - Deep Blue defeated Gary Kasparov on May 11th, 1997 Education - STEM Grand Challenge to develop adaptive, generalizable intelligent tutors (June 5, 2011-) - Hewlett Foundation: Improve Automated Scoring of Student Essays (Jan, 2012) Face Recognition - the Face Recognition Vendor test (FRVT) (2002-) Go - Entertainment and Cognitive Science, The University of Electro-Communication Language Learning and Understanding - Loebner Prize (1990-) - IBM Watson Lunar Robotics - NASA Prize for Digging Moon Dirt (September 20, 2005) - Google Lunar X Prize (2007-) Medical Diagnosis and Monitoring - Nokia Sensing X Challenge (may 24, 2012) Rescue Operations - Robocup Rescue (2001-) Robotics - The DARPA Robotics Challenge (October 2012-) Japanese Chess (Shogi) - World Computer Shogi Championship，IPSJ Computer Shogi Project Shredder Challenge - DARPA Shredder Challenge (October 27th-December 2nd, 2011; solved) Soccer - Robocup (1997 -) Entrance examination of the University of Tokyo - NII Artificial Brain Project: “U Tokyo Robot”

Conceptual Turing Test (1950)

Adapted from AAAI>AITopics>Grand Challenges in AI

Grand Challenges in AI

Recent Trends

1997: Deep Blue defeated G. Kasparov … Source: IBM Deep Blue, wikipedia 1997: Official opening of Robocup (H. Kitano) … Source: robocup.org, robocup.or.jp, Wikipedia 1997: Mars Pathfinder … Source: NASA Mars Pathfinfer, Wikipedia 1999: Robot pet SONY AIBO … Source: SONY AIBO, Wikipedia 1999: OpenCV Project … Source: OpenCVWiki，wikipedia 2000: Honda ASIMO … Source: Honda ASIMO, Wikipedia 2004: Mars Exploration Rovers … Source: NASA-JPL 2010: Google Driverless Car … Source: Wikipedia, Sebastian Thrun’s home page, 3P 2010: Kinect … Source: xbox.com, Wikipedia 2011: IBM Watson defeated two Jeopardy! champions … Source: IBM Watson, Wikipedia 2011: iPhone Siri … Source: Apple, Wikipedia 2011: Google Voice Search … Source: Google 2012: Zen Takemiya Masaki with 4 stones … Source: Sig ECS, UEC 2012: Google Glass Project … Source: Project Glass 2012: NTT DOCOMO’s Shabette Concier … NTT DOCOMO Other： Smarter than You Think (New York Times)

Landmarks

- From philosophy to science-technology

- Toy problems to the real world

- Powerful tools

- Grand challenges and competitions

Traditional AI Wow! Wow!

Wow! Wow!

Wow!

Wow! Wow!

Wow!

Wow! Wow!

Wow!

Wow! Wow!

Wow! Wow!

Wow!

Wow! Wow!

Wow!

Wow! Wow!

Wow!

Dark side of super intelligence

Technology abuse

Responsibility flaw

Moral in crisis

Over-dependency on technology

(Technological) singularity

The day when machine intelligence surpasses human intelligence.

IEEE Spectrum June 2008 issue http://spectrum.ieee.org/biomedical/ethics/signs-of-the-singularity

“The AI Scenario: We create superhuman artificial intelligence (AI) in computers.”

“The IA Scenario: We enhance human intelligence through human-to-computer interfaces--that is, we achieve intelligence amplification (IA).”

The fear of utopia

So what?

Dismiss as nonsense.

Neo-Luddism.

Invent a better solution.

Endow AI with empathic capabilities.

Communicative Intelligence for Bridging People and CI

Communicative Intelligence

Computational Intelligence People

Towards Empathic Agents

Glad to stay with you！

• Service • Presence • Empathy

Embedding AI in the society

DeepBlue Entertain with a game

IBM Watson Entertain with a game

Siri Conversation partner

(AI that can pass entrance exam) Effective and affective tutor

Traditional AI： High competence

Future AI： High empathy

The ability to understand others’ emotions and/or perspectives and, often, to resonate with others’ emotional states.

An affective response that is identical, or very similar, to what the other person is feeling or might be expected to feel given the context: a response stemming from an understanding of another’s emotional state or condition.

or …

[Eisenberg 2010]

Empathy

The more common ground is shared, the more empathy will be gained.

... the universe of discourse, first-person view, knowledge and skills, the communication style and rituals, the value system, ...

[Nishida 2013]

Sharing hypothesis

Tell me your problem

I have a problem

B A

Towards Empathic Agents

Eye gaze

Hand gesture Posture Para linguistic

Asking Negotiating

Proposing

Conviviality Social networks Trust

Conversation is a complex business

[Kendon 2004]

A context-of-use study of Open Hand Prone gestures suggests that they all share the semantic theme of stopping or interrupting a line of action that is in progress.

Gestures as a part of speaker’s utterances

The Open Hand Prone Pointing Gesture specifying size, shape and structure of an object

Stop / interrupt

Index Finger Extended Supine (palm down).

Size-shape-specifier gesture serving as a referent for the deictic pronoun ‘that’.

[Clark 1996]

Adam: Sit down here [pointing at a chair] would you Bart: ...

A

B

A+B

Adam Bart

Sit down here would you


[Brown & Yule 1983] [Clark 1996]

Is it very rough down there though?

There are no cobbles

Rough in terms of people

Oh I see

Town

Is it very rough down there though There

are no cobbles There are no

cobbles

Rough in terms of people?

Ar e t he peopl

e r ough

?

Town

Town

I s it ver y r ough down t her e t hough

Are the road rough?



Ther e ar e no cobbles

Fix

Rough in t er m s of people? Sync

I s it ver y r ough down t her e t hough

Are the people rough?

Town

Town

Is it very rough down there though

Ar e t he r oad r ough?

There are no cobbles Ther e ar e no cobbles


Fix Rough in terms of people?

Is it very rough down there though

A B


The Architecture of Empathic Agent?

Self

Internal theater

Interactive

Social

Cultural

Perception

Sensors

Embodiment

Motors

cognition

Language

Memory

Imagination

Consciousness

Learning skills

Evolutional system

Mind

Judgment

t 1990 2000 2010 1980 1970

Natural language dialogue systems

Speech dialogue systems

Multi-modal dialogue systems

Embodied Conversational Agents Intelligent Virtual Human

The Knowledge Navigator

Conversation Analysis

Discourse Analysis

Story Understanding systems

Conversational Informatics

Transactional systems

Interactional systems

History of conversational systems development

Our approach

Application

Platform

Evaluation

Content production Model building

Analysis

Conversational interactions

Theory

Measurement

Our approach: Building a Primordial Soup of Conversation

Content provision Training data

Acquired content

Conversation management - Conversation environment management - Sensing human behaviors - Controlling agents

Conversation environment #1



Partially mechanized humans & Partially humanized machines live together and converse with each other.

materialization embodied conversational agent

conversation quantum

a conversational situation

accumulation dematerialization

another conversational situation






conversion / spatialization

The Idea of Conversation Quantization

[Nishida DNIS 2005]

Augmented Conversation Environment We aim at building a smart environment that integrates conversation in physical and virtual spaces.

Conversation in the physical environment Conversation in the virtual environment ICIE: Immersive Collaborative Interaction Environment

Multiparty conversation recorder

Eye tracker

Eye tracker (wearable)

Polygraph Optical motion capture systems

Cluster computer

IMADE: Interaction Measurement, Analysis, and Design Environment

SmartInFill

Conversation in physical world Conversation in cyber world

Platform for supporting cyber-physical conversation

Cyber-physical conversation environment

a conversation robot cameras for varying purposes a computer vision and a cluster computer (to be installed)


Optical motion capture systems

Cluster computer

SmartInFill

Polygraph

Multiparty conversation recorder

Eye tracker Eye tracker (wearable)


- experiment profiles - timeline - motion data

- visual data - audio data (PCM)

Storage - experiment record - recording operation

Web server

Audio capture system ・8ch preamp

Camera system data streams

Motion data server

Wearable sensors

- Wireless head set microphones - Eye mark recorders - Motion capture devices - Biological sensors

Ethernet Wireless

Motion capture tag

Camera

Microphone

Conversation field

- time stamps

NTP server

[Sumi]

Database


[Yano 2011]

3D conversation capture

[Yano 2011]

3D conversation capture – from first person view

[Yano 2011]

3D conversation capture – from first person view

[Yano 2012]

3D conversation capture – over the shoulder

ICIE: Immersive Collaborative Interaction Environment

[Ohashi 2011]

Immersive Interaction Environment

[Nitschke 2013] https://www.youtube.com/watch?v=V-9SKpcMrzk

Projecting the real world into the virtual world

[Mori 2011]

[Mori 2012]

Virtualized physical world


Projecting operator’s behavior on a robot [Saiga 2012]

iDEAL: a software platform for ICIE [Ohmoto 2012]


Immersive WOZ environment

[Ohmoto, Ohashi, Saiga]

Feedback generation Motion mapping User motion sensing Head recognition Gesture recognition Face model Human body model

WOZ operating environment

WOZ operator Tele-operated robot

The conversation place

Immersive WOZ environment

The user in ICIE is asking for a clerk in the remote shop to explain a product.

[Saiga 2011] http://www.youtube.com/watch?v=YTVYwwZcGhU


[Ohmoto 2011]

Interactions from observation

Interaction Corpus

Observation/measurement of human-human

interactions

Realizing autonomous robot with estimated parameters

North conversation field shifts South

S1 S2

S3 S1

S2

S3 S1

S2

S3 S1

S2

S3

scene 1 scene 2 scene 3 scene 4

[Sumi, Bono, Kijima]

Analysis using annotation tool (iCorpusStudio)

[Yano and Sumi]

Conversation visualizer

Learning by imitation

[Mohammad 2009]

[Mohammad 2010]

Gesture stream

Action stream

The problem formulation

Learning by imitation

[Mohammad 2009]

Fluid Learning

[Mohammad 2013]

[Lala 2013]

Virtual Basketball

[Nakazawa Nitschke 2013]

Corneal Image Capture

1. This course centers on conversations. 2. Why conversations?

-> Foundation of thought and communication 3. Why do people converse with each other?

-> As a part of social interaction, for creating and maintaining stories, for fun.

4. The complexity of conversations: -> Multi-level, multi-layered, polysemy, polymorphism, coordination of multi-modality.

5. People are not only proficient in expressing ideas but also skillful in interpreting utterances, thereby they learn from each other.

6. Building a conversationally intelligent agents helps people effectively communicate with each other by conversations.

7. Conversational intelligence can be counted as an important branch of artificial intelligence.

8. We will integrate the engineering and scientific approached to conversation.

Summary

Agenda

Credits: Will be awarded based on one or more reports on subjects given at the class.

Calendar (tentative)

1. Introduction (October 2rd) 2. History of Conversational System Development (October 9th) 3. Smart space for conversation and the analysis (October 16th) 4. Mark Up Language (October 23rd) 5. Corpus Based Approach (October 30th) 6. Measuring, Analysis and Modeling (November 6th) 7. Affective Computing (November 13th) 8. Motif Discovery (November 20th) 9. Gesture (December 4th) 10. Computer Vision (December 11th) 11. Language Use - 1 (December 18th) 12. Language Use - 2 (December 25th) 13. Cognitive Design (January 8th) 14. Speaking Turn Taking System (January 22nd) 15. Cognitive Process (January 29th)

References

[Brown & Yule 1983] Gillian Brown and George Yule. Discourse Analysis, Cambridge University Press, 1983. [Clark 1996] Herbert H. Clark. Using Language. Cambridge, Cambridge University Press (1996) [Kendon 2004] Kendon, A.: Gesture, Cambridge University Press, 2004 [Nishida 2012a] Toyoaki Nishida: The Best of AI in Japan - Prologue. AI Magazine 33(2): 108-111, 2012

http://www.aaai.org/ojs/index.php/aimagazine/article/view/2358/2288 [Nishida 2012b] Toyoaki Nishida: Artificial intelligence research in the second half century, Journal of Information Processing and Management 55(7):

461-471, 2012 (in Japanese) http://dx.doi.org/10.1241/johokanri.55.461

[Nishida 2013a] Toyoaki Nishida: What’s AI, Journal of Japanese Society for Artificial Intelligence 28(2): 326-335, 2013 (in Japanese) [Nishida 2013b] Toyoaki Nishida: Conversation Quantization as a Foundation of Conversational Intelligence. DNIS 2013: 230-245, 2013.

http://dx.doi.org/10.1007/978-3-642-37134-9_18

Documents

Toyoaki Nishida Kyoto University - 京都大学 · PDF file1970 The world’s first face recognition system by Takeo Kanade ... - Entertainment and Cognitive Science, ... Robot pet