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Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

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Page 1: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Empathy in Human Robot Interaction

Intelligent Robotics Seminar 12.12.2016

Krishnan Chandran

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Page 2: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Structure of the Presentation

● Motivation

● Definitions

● Neural Basis

● Human Robot Feedback Loop

● Efforts in Robotics

● Commercial examples

● Conclusion & Remarks

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Page 3: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Motivation

“What I cannot create, I do not understand” - Richard Feynman

● Empathy as a biological advantage in evolution.

● A comprehensive overview of Empathy in Human Robot

Interactions.

● Empathy as an emergent behavior

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Page 4: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Meat Machines

A term coined by Marvin Minksy.

● Thoughts,Feelings, Hopes, Emotions as operations of the brain.

● Rejects the idea that mind stems from the immaterial.

● Helps in developing computational models.

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Page 5: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Defining Empathy

Cognitive Empathy

● Capacity to understand

mental states

Affective Empathy

● Capacity to respond to

mental states[1]

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Page 6: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Elements of Empathy

Cognitive Empathy

● Recognize an emotional

state.

● Theory of mind.

● Mind is not observable.

[2]

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Page 7: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Elements of Empathy

Affective Empathy

● Emotional contagion.

● Mimicry

● Emotional Convergence.

[2]

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Page 8: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Empathy in the Brain

● Neural Basis of Empathy

● Insular Cortex - Anterior Insula and

Anterior Cingulate Cortex

● Mirror Neurons

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Page 9: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Empathy in the Brain

● Neural Basis of Empathy

● Insular Cortex - Anterior Insula and

Anterior Cingulate Cortex

● Mirror Neurons

● Ventromedial prefrontal cortex

[3]

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Page 10: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

A Recipe for creating empathy

Model the Mirror Neuron system

Model the Insula

Model the internal feeling.

[5]

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Page 11: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

An Empathetic Human Robot Feedback Loop

● Begins with the Human.

● Anthropomorphic Design.

● Embodiment & Communication

● Expression & Gestures

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Page 12: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Overcoming the Uncanny Valley

● Reducing the near perfect

human likeness of the

robot.

● Fluent Display of emotions

in robots.

● Computationally expensive.

[4]12

Page 13: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Early efforts in Robotics

Kizmet by Cynthia Brezeal, MIT

● Classes of affective intent: approval,

prohibition, attention, comfort, and

neutral.

● Auditory system

● Visual System

● Vocalization System

[2]

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Page 14: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Towards an Empathy Engine

● Zara, an empathetic android

● Developed in Hong Kong.

● Integrates Facial features, Speech tones and language inputs.

● Uses a recurrent neural network to preserve the memory

● Emotion and intent expression capability.

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Page 15: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Deep Learning for empathy engine.

[7] 15

Page 16: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Long Short Term Memory - RNN

● Extension of Recurrent

Neural Networks.

● The Problem of

Long-Term

Dependencies

[9]16

Page 17: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Long Short Term Memory - RNN

● Extension of Recurrent

Neural Networks.

● The Problem of

Long-Term

Dependencies

● Process data that has

periodic patterns.

[9]17

Page 18: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

SIRE Model

● Inspired by development in children● Modality Independent Representation● Tries to find “universals” across

emotional states● Maps High Level perceptual features

to Low Level features● Speed, Intensity, Regularity and

Extent

[4]

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Page 19: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

MEI - Multimodal Emotional Intelligence

● Mei Mei Robot● Three significant characteristics: a

recognition ability, an interpretable model, and an expression ability.

● overall crossmodal recognition rate is 63%

● explicit theory for robot development of emotional intelligence through expressive facial and vocal interaction with a caregiver.

[4]

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Page 20: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

MEI - Multimodal Emotional Intelligence

● Mei Mei Robot● Three significant characteristics: a

recognition ability, an interpretable model, and an expression ability.

● overall crossmodal recognition rate is 63%

● explicit theory for robot development of emotional intelligence through expressive facial and vocal interaction with a caregiver.

[4]

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Page 21: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Pepper by Softbank Robotics

● Commercially available robot.

● SDK available for Android.

● Uses proprietary algorithm.

● Choreographe, a software for a

programming Pepper.

[10]

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Page 22: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Pepper by Softbank Robotics

● Commercially available robot.

● SDK available for Android.

● Uses proprietary algorithm.

● Choreographe, a software for a

programming Pepper.

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[11]

Page 23: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Conclusion

● Standardized Empathy learning Engine for social robots.

● Modality independence.

● Far from a commercially viable empathetic robot.

● Does not consider Limbic system.

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Page 24: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Remarks

● What is authentic empathy?

● Empathy model’s believability.

● Ethical concerns of embedding robots with with abstract layers of

intelligence.

● Effect on Human Empathy development.

● Cognitive Offloading: If we don’t exercise a mental faculty, it will

become extinct.

● Empathy is not the enemy of reason, rather it helps us assign value.

● Ethnocultural empathy24

Page 25: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

References

[1] http://labs.sogeti.com/empathic-things-humanoid-robot-understands-emotions/[2] http://blog.teleosleaders.com/2013/07/19/emotional-empathy-and-cognitive-empathy[3]http://www.slideshare.net/ElodiBodamer/the-insular-cortexelodi-bodamer-goa-class [4]http://spectrum.ieee.org/automaton/robotics/humanoids/the-uncanny-valley[5]Lim, A. & Okuno, H.G. Int J of Soc Robotics (2015) 7: 35. doi:10.1007/s12369-014-0262-y[6] https://en.wikipedia.org/wiki/Kismet_(robot)[7]Fung, Pascale; Bertero, Dario; Wan, Yan; Dey, Anik; Chan, Ricky Ho Yin; Siddique, Farhad Bin; Yang, Yang; Wu, Chien-Sheng; Lin, Ruixi .Towards Empathetic Human-Robot Interactions [8]Rizzolatti, Giacomo; Craighero, Laila (2004). "The mirror-neuron system" Annual Review of Neuroscience. 27 (1): 169–192.[9]http://colah.github.io/posts/2015-08-Understanding-LSTMs [10]http://www.softbank.jp/en/robot/ [11]https://www.youtube.com/watch?v=SupXHWZ5kcs

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Page 26: Empathy in Human Robot Interaction · Empathy in Human Robot Interaction Intelligent Robotics Seminar 12.12.2016 Krishnan Chandran 1

Questions?

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