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학술대회 End-to-End Learning of Social Behaviors for Humanoid Robots
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고우리, 이재연, 장민수, 김재홍
International Conference on Systems, Man, and Cybernetics (SMC) 2020, pp.1-6
20HS2500, 고령 사회에 대응하기 위한 실환경 휴먼케어 로봇 기술 개발, 이재연
Social robots should understand the user's nonverbal behavior and respond appropriately. Machine learning is one way of implementing the social intelligence. It provides the ability to automatically learn and improve from experience instead of explicitly telling the robot what to do. This paper proposes an end-to-end machine learning method to learn social behaviors for humanoid robots. We adapt sequence-to-sequence architecture consisting of two long short-term memory (LSTM) units. One is an LSTM encoder for encoding the previous sequence of human poses, and the other is an LSTM decoder for generating the next sequence of robot poses. The weights of the LSTMs are trained using human-human interaction data such as greeting and handshaking. The trained model is implemented in a humanoid robot, Pepper, to show its feasibility. Experimental results show that the robot can generate gestures appropriate to the situation and recognize subtle differences in user behavior. In addition, when a user's behavior changes, the transition to another behavior occurs naturally.
KSP 제안 키워드
End to End(E2E), Human-Human Interaction, Long-short term memory(LSTM), Machine Learning Methods, Sequence architecture, Social Intelligence, Social behavior, User behavior, User's Behavior, end-to-end learning, humanoid robot