This course will cover a variety of topics related to social intelligence and socially intelligent robots.  We will spend 1-2 weeks on each topic, and readings/lectures will cover (1) what’s known about how this ability arises in human intelligence, and (2) state-of-the-art approaches to building computational systems with this type of social ability. 

Readings will be posted here, and updates will be announced in class and on t-square.


Monday, Aug. 20th 

  • First class, overview

Wednesday, Aug. 22

  • R. Brooks, “It’s 2001 Already”, Flesh and Machines, Ch. 4, 2003. 
  • T. Fong et al., “A survey of socially interactive robots”, RAS 2003.   

Anthropomorphism and Embodiment

Monday, Aug. 27th 

  • D. Norman “Emotional Design”, Ch. 6 & 7, 2004. 
  • S. Klemmer et al., “How bodies matter”, DIS 2006.

Wednesday, Aug. 29th

  • D. Dennett, “True Believers," in Mind Design II, (Originally 1981).
  • J. Lasseter, “Principles of Traditional Animation applied to 3D Computer Animation”, in Computer Graphics, 1987.

Wednesday, Sept. 5th

  • Srinivasa et al, "Herb 2.0: Lessons learned from developing a mobile manipulator for the home" Proc. of the IEEE Vol 100, No 8, 2012.
  • Gielniak, Thomaz, "Enhancing Interaction through Exaggerated Motion Synthesis", HRI 2012.

Experimental Design

Monday, Sept. 10th

  • Wickens, Gordon, Liu "Ch 2, Research Methods", in An Introduction to Human Factors Engineering, 1998. 

Wednesday, Sept. 12th

  • Guest lecture: Melanie Clark; no readings.

Monday, Sept. 17th

  • Riek, "Wizard of Oz studies in HRI", JHRI Vol1 No1, 2012.
  • Young et al., "Evaluating Human Robot Interactions", SoRo Vol 3, No 1, 2011. 

Percieving Intentional Action

Wednesday, Sept 19th 

  • G. Csibra, “Teleological and referential understanding of action in infancy”, Philos Trans R Soc Lond B Biol Sci. 2003. 
  • Woodward, et al., “How infants make sense of intentional action”, Ch7 in Intentions and Intentionality, Ed. Malle and Moses, 2001.
  • (optional) D. Baldwin and J. Baird, “Discerning Intentions in Dynamic Human Action” TICS 2001.

Monday, Sept 24th  

  • Salah et al., "Challenges in Human Behavior Understanding", HBU 2010, LNCS 6219, pp 1-12, 2010.
  • Y. Nagai, K. Rohlfing, “Computational Analysis of Motionese Toward Scaffolding Robot Action Learning,” IEEE Trans. on Autonomous Mental Devleopment, 2009.

Wednesday, Sept 26th

  • Gallese and Goldman, “Mirror Neurons and the Simulation Theory of Mind-reading”, TICS 1998.
  • Gopnik, Wellman, “Why the Child’s Theory of Mind really is a theory”, 1992.

Monday, Oct 1st.

  • G. Trafton, “Enabling Effective HRI using perspective taking in robots”, T-SMC 2005.      
  • C. Breazeal et al., “Using perspective taking to learn from ambiguous demonstrations”  RAS 2006.

Collaboration and Teamwork

Wednesday, Oct 3rd 

  • Sebanz et al., "Joint action: bodies and minds moving together" TICS, 2006.
  • Shah et al., "Improved human-robot team performance using Chaski, a human-inspired plan execution system" HRI 2011.

Monday, Oct 8th  

  • Bratman, "Shared Cooperative Activity"
  • Hoffman, "Collaboration in Human-Robot Teams"

Wednesday, Oct 10th 

  • no class (on travel to IROS)

Monday, Oct 15th 

  • Fall Break

Wednesday, Oct 17th 

  • De Santis et al., "An atlas of physical human-robot interaction", Mechanism and Machine Theory, 2008.
  • Haddadin et al., "Requirements for safe robots: measurements, analysis, and new insights", IJRR 2009.

Dialog and Turntaking

Monday, Oct 22rd 

  • Trevarthen, "Communication and Cooperation in Early Infancy", 1979.
  • Duncan, "Some Signals and Rules for Taking Speaking Turns in Conversations", 1972.

Wednesday, Oct 24th  

  • Bangerter and Clark, "Navigating Joint Projects with Dialog", Cognitive Science (27), 2003.
  • Clark and Krych, "Speaking while monitoring addressees for understanding", Journal of Memory and Language, 2004.

Monday, Oct 29th 

  • Bohus and Horvitz, "Decisions about Turns in Multiparty Conversation", ICMI 2011.
  • Chao and Thomaz, "Timing in Multi-modal Turntaking Interactions" JHRI 1(1), 2012.

Wednesday, Oct 31th 

  • Rich et al., "Recognizing Engagement in Human-Robot Interaction" HRI 2010.
  • Mutlu et al. "Nonverbal leakage in Robots" HRI 2009.
  • Lee et al. "Gracefully mitigating breakdowns in robotic services" HRI 2010.

Emotional Intelligence

Monday, Nov 5th 

  • Picard, Affective Computing, 1999.

Wednesday, Nov 7  

  • Emotional Robots - Breazeal

Monday, Nov 12th 

  • Emotional Robots

Social Learning

Moday, Nov 19th 

  • Mascalo, "Change processes in development", New Ideas in Psychology, 2005.
  • Meltzoff, Decaty, "What imitation tells us about social cognition", Phil. Trans. Royal Soc. London, 2003.

Wednesday, Nov 21th

  • Argall et al. "A Survey of Robot Learning from Demonstration", 2009.

Monday, Nov 26th 

  • Thomaz, Cakmak, "Learning about Objects from Human Teachers", 2009.
  • Kormushev, et al. "Robot motor skill coordination with EM-based Reinforcement Learning", IROS 2010.

Wednesday, Nov 28th

  • Chernova, Veloso, "Confidence-based policy learning from demonstration using Gaussian Mixture Models", AAMAS 2007.
  • Grollman, Jenikins, "Dogged Learning for Robots", ICRA 2007.

Assistive and Telepresence

Monday, Dec 3rd 

  • Okamura, et al., "Medical and Health-care robotics: achievements and opportunities", IEEE Robotics and Automation Magazine, 2010.

Wednesday, Dec 5th 

  • Beer, Takayama, "Mobile remote presence systems for older adults", HRI 2011.
  • Lee, Takayama, "Now I have a body", CHI 2011. 

Final Project Presentations

Friday Dec 14th, 2:50-5:40pm

  • Details to be announced.

© Andrea Thomaz 2012