Neural-network-based Memory for a Social Robot

摘要

Many recent studies have shown that behaviors and interaction logic for social robots can be learned automatically from natural examples of human-human interaction by machine learning algorithms, with minimal input from human designers [1--4]. In this work, we exceed the capabilities of the previous approaches by giving the robot memory . In earlier work, the robot's actions were decided based only on a narrow temporal window of the current interaction context. However, human behaviors often depend on more temporally distant events in the interaction history. Thus, we raise the question of whether (and how) an automated behavior learning system can learn a memory representation of interaction history within a simulated camera shop scenario. An analysis of the types of memory-setting and memory-dependent actions that occur in the camera shop scenario is presented. Then, to create more examples of such actions for evaluating a shopkeeper robot behavior learning system, an interaction dataset is simulated. A Gated Recurrent Unit (GRU) neural network architecture is applied in the behavior learning system, which learns a memory representation for performing memory-dependent actions. In an offline evaluation, the GRU system significantly outperformed a without-memory baseline system at generating appropriate memory-dependent actions. Finally, an analysis of the GRU architecture's memory representation is presented.