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Abstract/Syllabus:
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Breazeal, Cynthia, MAS.965 Relational Machines, Spring 2005. (Massachusetts Institute of Technology: MIT OpenCourseWare), http://ocw.mit.edu (Accessed 08 Jul, 2010). License: Creative Commons BY-NC-SA
Relational Machines
Spring 2005
The robot Leo. (Image courtesy of Andrea Lockerd and Guy Hoffman.)
Course Highlights
This course features set of weekly reading responses in the assignments section as well as examples of students' final projects.
Course Description
This course examines the issues, principles, and challenges toward building relational machines through a combination of studio-style design and critique along with lecture, lively discussion of course readings, and assignments. Insights from social psychology, human-computer interaction, and design will be examined, as well as how these ideas are manifest in a broad range of applications for software agents and robots.
Syllabus
Course Description
Relational machines are technological artifacts that interact with people on an ongoing and extended basis to the benefit of their users. Sample applications include learning companions for children, assistive robots for the elderly, software agents that act as trainers or assistants, interactive game characters that engage in social relationships, or machines that cooperate with humans as members of human-robot teams. In these scenarios, the user interacts with the machine as a peer rather than as a tool. Furthermore, the social rapport between human and machine has a positive impact on performance gains. This raises the question of how to design for a successful human-machine relationship over the long-term. What kinds of relationships can be established and maintained between humans and technological artifacts? How might one model such a relationship, reliably measure its important aspects, and modify them in order to create successful interactions over time? What kinds of relationships have been explored and how will they evolve in the future?
This course examines the issues, principles, and challenges toward building relational machines through a combination of studio-style design and critique along with lectures, lively discussion of course readings, and assignments. Insights from social psychology, human-computer interaction, and design will be examined, as well as how these ideas are manifest in a broad range of applications for software agents and robots. Student projects explore selected course themes in depth. There will be a final project due at the end of the semester.
Grading
Grading Criteria
activities |
percentages |
Weekly Written Critiques of Readings |
25% |
Class Participation/Presentations |
25% |
Term Project/Paper |
50% |
Weekly Readings
Students are required to submit a 1-2 page critique or reaction to the readings at noon the day before class meets.
Student Participation/Presentations
This class will be a combination of lecture/discussion with a project studio format. The first hour shall comprise review and discussion of course readings. The second hour will consist of in-class exercises to small design problems followed by short presentations and discussion.
Term Project
One goal of this course is to go through a full design cycle of a relational artifact. This includes developing a design concept of a relational artifact, getting feedback from focus groups, implementing technical aspects of it, evaluating those aspects, and possibly revising the design. A working demo at the end of the semester is ideal.
Calendar
Course schedule.
week # |
Topics |
key dates |
1 |
Introduction, Why Relational Machines? |
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2 |
Representing and Manipulating Relationships |
Project exercise 1 - Relationship Basics due |
3 |
Measuring Aspects of Relationships and Interactions |
Project exercise 2 - Defining the Relationship due |
4 |
Issues in Particular Populations |
Project exercise 3 - Further Refinements due |
5 |
Interactions with Assistive and Therapeutic Agents |
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6 |
Interactions with Machine Teammates |
Project exercise 4 - Interview Preparation due |
7 |
Guest Lecture |
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8 |
Interactions with Learning Companion and Tutorial Agents |
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9 |
Interaction with Trainers and Assistant Agents |
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10 |
Interaction with Trainers and Assistant Agents (cont.) |
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11 |
Interaction with Wearable or Ambient Agents |
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12 |
Interactions with Entertainment Agents |
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13 |
Sponsor Week |
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14 |
Final Presentations |
Final projects due |
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Further Reading:
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Readings
WEEK #
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TOPICS
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READINGS
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1
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Introduction to Course
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2
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Philosophy
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Malle, Bertram F., and J. Knobe. "The Distinction between Desire and Intention: A Folk-Conceptual Analysis." Chapter 2 in Intention and Intentionality. Edited by Bertram F. Malle, Louis J. Moses, and Dare A. Baldwin. Cambridge, MA: MIT Press, April 2001. ISBN: 9780262133869.
Bratman, M. "What is Intention?" Chapter 2 in Intentions in Communication. Edited by Philip R. Cohen, Jerry Morgan, and Martha E. Pollack. Cambridge, MA: MIT Press, June 1990. ISBN: 9780262031509.
Dennett, Daniel C. "Three Kinds of Intentional Psychology." Chapter 3 in The Intentional Stance. Cambridge, MA: MIT Press, March 1989. ISBN: 9780262540537.
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3
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Development of Theory of Mind
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Meltzoff, and J. Decety. "What Imitation Tells Us about Social Cognition: A Rapproachment between Developmental Psychology and Cognitive Neuroscience." Phil. Trans. R. Soc. London B 358 (2003): 491-500.
Cohen, S. Baron. "Precursers to a Theory of Mind: Understanding Attention in Others." Chapter 16 in Natural Theories of Mind. Edited by Andrew Whiten. Malden, MA: Blackwell, January 1993. ISBN: 9780631185529.
Wellman, H. "From Desires to Beliefs: Acquisition of a Theory of Mind." Chapter 2 in Natural Theories of Mind. Edited by Andrew Whiten. Malden, MA: Blackwell, January 1993. ISBN: 9780631185529.
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4
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Models of Theory of Mind
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Gopnick, A., and H. Wellman. "Why the Child's Theory of Mind Really Is a Theory." Mind and Language 7, no. 1-2 (1992): 145-171.
Carey, S., and E. Spelke. "Science and Knowledge." Philosophy of Science 63 (1996): 515-533.
Background Readings
Gordon R. "Folk Psychology as Simulation." Mind and Language 3, no. 2 (1986): 158-171.
Nichols, S., S. Stich, A. Leslie, and D. Klein. "Variations of Off-line Simulation." Chapter 4 in Theories of Theories of Mind. Edited by Peter Carruthers, and Peter K. Smith. Cambridge, UK: Cambridge University Press, February 23, 1996. ISBN: 9780521559164.
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5
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Reading Behavior, Reading Minds: Primates
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Whiten, A. "When does Smart Behavior-reading become Mind-reading." Chapter 17 in Theories of Theories of Mind. Edited by Peter Carruthers, and Peter K. Smith. Cambridge, UK: Cambridge University Press, 23 February 1996. ISBN: 9780521559164.
Povinelli, D. "Chimpanzee Theory of Mind? The Long Road to Strong Inference." Chapter 18 in Theories of Theories of Mind. Edited by Peter Carruthers, and Peter K. Smith. Cambridge, UK: Cambridge University Press, 23 February 1996. ISBN: 9780521559164.
Butterworth, G. "Theory of Mind and the Facts of Embodiment." Chapter 6 in Children's Early Understanding of Mind. Edited by Charles Lewis, and Peter Mitchell. London, UK: Psychology Press, May 1, 1994. ISBN: 9780863773334.
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6
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Reading Behavior, Reading Minds: Children
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Woodward, A., J. Sommerville, and J. Guajardo. "How Infants Make Sense of Intentional Action." Chaper 7 in Intention and Intentionality. Edited by Bertram F. Malle, Louis J. Moses, and Dare A. Baldwin. Cambridge, MA: MIT Press, April 2001. ISBN: 9780262133869.
Gleissner, B., A. Meltzoff, and H. Bekkering. "Children's Coding of Human Action: Cognitive Factors Influencing Imitation in 3 Year Olds." Developmental Science 3, no. 4 (2000): 405-414.
Baldwin, D., and J. Baird. "Discerning Intensions in Dynamic Human Action." Trends in Cognitive Science 5, no. 4 (2001): 171-178.
Optional Readings
Povinelli, D. "On the Possibility of Detecting Intentions Prior to Understanding Them." In Intention and Intentionality. Edited by Bertram F. Malle, Louis J. Moses, and Dare A. Baldwin. Cambridge, MA: MIT Press, April 2001, pp. 225-248.
Schultz, T. "From Agency to Intention: A Rule-based, Computational Approach." Chapter 6 in Theories of Theories of Mind. Edited by Peter Carruthers, and Peter K. Smith. Cambridge, UK: Cambridge University Press, 23 February 1996.
Baird, J., and Dare A. Baldwin. "Making Sense of Human Behavior: Acting Parsing and Intentional Inference." In Intention and Intentionality. Edited by Bertram F. Malle, Louis J. Moses, and Dare A. Baldwin. Cambridge, MA: MIT Press, April 2001, pp. 193-206.
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7
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Toward Machines with ToM
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Mataric, M. "Getting Humanoids to Move and Imitate." IEEE Intelligent Systems (July 2000): 18-24.
Scassellati, B. "Foundations of Theory of Mind for a Humanoid Robot." PhD Thesis, MIT Dept EECS. Cambridge, MA, 2000, selected chapters: 3, 7, 9, 10, 11.
Breazeal, C., D. Bushbaum, J. Gray, and B. Blumberg. "Learning From and About Others: Towards Using Imitation to Bootstrap the Social Competence of Robots." In Artificial Life, 2004.
Optional Readings
Scassellati, B. "Theory of Mind for a Humanoid Robot." In Proceedings of Humanoids 2000. Cambridge, MA, 2000.
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8
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Joint Intention and Action
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Gross, B. "Collaborative Systems: The1994 AAAI Presidential Address." AI Magazine 17, no. 2 (1996): 67-85.
Bratman, M. "Shared Cooperative Activity." The Philosophical Review 101, no. 2 (1992): 327-341.
Searle, J. "Collective Intentions and Actions." Chapter 19 in Intentions in Communication. Edited by Philip R. Cohen, Jerry Morgan, and Martha E. Pollack. Cambridge, MA: MIT Press, June 1990. ISBN: 9780262031509.
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9
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Teamwork
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Cohen, P. "Teamwork." Nous 25 (1991): 487-512.
Background Readings
Cohen, Philip R., and H. Levesque. "Persistence, Intention, and Commitment." Chapter 3 in Intentions in Communication. Edited by Philip R. Cohen, Jerry Morgan, and Martha E. Pollack. Cambridge, MA: MIT Press, June 1990. ISBN: 9780262031509.
Levesque, H., P. Cohen, and J. Nunes (1994). "On Acting Together." In Proceedings of the Eighth National Conference on Artificial Intelligence (AAAI-90). Boston, MA, 1990, pp. 94-99.
Optional Readings
Sullivan, D., A. Glass, B. Grosz, and S. Kraus. "Intention Reconciliation in the Context of Teamwork: An Initial Empirical Investigation." In Cooperative Information Agents III, Lecture Notes in Artificial Intelligence. Vol 1652. Edited by Klusch, Shehory, and Weiss. Berlin: Springer Verlag, 1999, pp. 149-162.
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10
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Robot Teams
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Jones, H., and P. Hinds. "Extreme Work Teams: Using SWAT Teams as a Model for Coordinating Distributed Robots." In Proceedings of CSCW 2002. Hyatt Regency, New Orleans, LA: ACM Press, November 16-20, 2002. ISBN: 9781581135602.
Stone, P., and M. Veloso. "Task Decomposition, Dynamic Role Assignment, and Low-Bandwidth Communication for Real-Time Strategic Teamwork." Artificial Intelligence 110, no. 2 (1999): 241-273.
Optional Readings
Stone, P., and M. Veloso. "Towards Collaborative and Adversarial Learning: A Case Study in Robotic Soccer." In Proceedings of IJHCS. 1996.
Veloso, M., P. Stone, and M. Bowling. "Anticipation: A Key for Collaboration in a Team of Agents." In Proceedings of the Third International Conference on Autonomous Agents. 1998.
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11
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Collaborative Discourse Theory
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Litman, D., and J. Allen. "Discourse Processing and Commonsense Plans." Chatper 17 in Intentions in Communication. Edited by Philip R. Cohen, Jerry Morgan, and Martha E. Pollack. Cambridge, MA: MIT Press, June 1990. ISBN: 9780262031509.
Grosz, B., and C. Sider. "Plans for Discourse." Chapter 20 in Intentions in Communication. Edited by Philip R. Cohen, Jerry Morgan, and Martha E. Pollack. Cambridge, MA: MIT Press, June 1990. ISBN: 9780262031509.
Rich, C., C. Sidner, and N. Lesh. "Collagen: Applying Collaborative Discourse Theory to Human-Computer Interaction." AI Magazine, Winter 2001, 15-25.
Background Readings
Grosz, B., and C. Sidner. "Attention, Intentions, and the Structure of Discourse." Computational Linguistics 12, no. 3 (1986): 175-202.
Pollack, Martha E. "Plans as Complex Mental Attitudes." Chapter 5 in Intentions in Communication. Edited by Philip R. Cohen, Jerry Morgan, and Martha E. Pollack. Cambridge, MA: MIT Press, June 1990. ISBN: 9780262031509.
Optional Readings
Lochbaum, K. "A Collaborative Planning Model for Intentional Structure." Computational Linguistics 4, no. 24 (1998): 525-571.
Lesh, N., C. Rich, and C. L. Sidner. "Using Plan Recognition in Human-Computer Collaboration." In Proceedings of the International Conference on User Modelling (UM-99). 1999.
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12
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Task-oriented Dialogs
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Rickel, J., and L. Johnson. "Task-oriented Collaboration with Embodied Agents in Virtual Worlds." Chapter 4 in Embodied Conversational Agents. Edited by Justine Cassell, Joseph Sullivan, Scott Prevost, and Elizabeth Churchill. Cambridge, MA: MIT Press, April 3, 2000, pp. 95-122. ISBN: 9780262032780.
Cohen, P., H. Levesque, J. Nunes, and S. Oviatt. "Task-oriented Dialogue as a Consequence of Joint Activity." In Proceedings of PRICAI-90. 1990, pp. 203-208.
Clark, H., and D. Wilkes-Gibbs. "Referring as a Collaborative Process." Chapter 23 in Intentions in Communication. Edited by Philip R. Cohen, Jerry Morgan, and Martha E. Pollack. Cambridge, MA: MIT Press, June 1990. ISBN: 9780262031509.
Background Readings
Cassell, J. "Nudge Nudge Wink Wink: Elements of Face-to-Face Conversation for Embodied Conversational Agents." Chapter 1 in Embodied Conversational Agents. Edited by Justine Cassell, Joseph Sullivan, Scott Prevost, and Elizabeth Churchill. Cambridge, MA: MIT Press, April 3, 2000, pp. 1-28. ISBN: 9780262032780.
Grice, H. "Logic and Conversation." In Syntax & Semantics: Speech Acts. Vol. 3. Edited by P. Cole, and J. Morgan. New York: Academic Press, 1975, pp. 41-58.
Duncan, S. "On the Structure of Speaker-Auditor Interaction during Speaking Turns." Lang. Soc. 2 (1973): 160-180.
Chovil, N. "Discourse-Oriented Facial Displays in Conversation." Research on Language and Social Interaction 25 (1992): 163-194.
Argyle, M., R. Ingham, F. Alkema, and M. McCallin. "The Different Functions of Gaze." Semiotica. 1973.
McClave, E. "Linguistic Functions of Head Movements in the Context of Speech." Journal of Pragmatics 32 (2000): 855-878.
Optional Readings
Smith, I., P. Cohen, J. Bradshaw, M. Greaves, and H. Holmback. (1990). "Designing Conversation Policies Using Joint Intention Theory." In Proceedings of the Third International Conference on Multi-Agent Systems (ICMAS98). 1998.
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13
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Collaborative Learning
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Nicolescu, M., and M. Mataric. "Natural Methods for Robot Task Learning: Instructive Demonstrations, Generalization and Practice." In Proceedings of AAMAS 2003. Melbourne, Australia, 2003.
Tan, M. "Multi-Agent Reinforcement Learning: Independent vs. Cooperative Agents." In Readings in Agents. Edited by Michael N. Huhns, and Munindar P. Singh. San Francisco, CA: Morgan Kaufmann, October 1, 1997, pp. 487-494. ISBN: 9781558604957.
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14
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Systems: Human Machine Collaboration
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Hayes Roth, B., and L. Brownston. "Multi-Agent Collaboration in Directed Improvisation." In Stanford University Technical Report KSL-94-61. October 1994.
Rickel, J., N. Lesh, C. Rich, C. Sidner, and A. Gertner. "Collaborative Discourse Theory as a Foundation for Tutorial Dialog." In Proceedings of the 6th International Conference on Intelligent Tutoring Systems. Berlin: Springer Verlag, 2002, pp. 512-551.
Allen J., et. al. "The TRAINS Project: A Case Study in Building a Conversational Planning Agent." In Technical Note 94-3. University of Rochester, Computer Science Department, 1994.
Optional Readings
Lesh, N., C. Rich, and C. Sidner. "Collaborating with Focused and Unfocused Users under Imperfect Communication." In Proceedings of the International Conference on User Modelling. Berlin: Springer Verlag, 2001, pp. 64-73.
Churchill, Elizabeth, L. Cook, P. Hodgson, Scott Prevost, and Joseph Sullivan. "May I Help You?: Designing Embodied Conversational Agent Allies." Chapter 3 in Embodied Conversational Agents. Edited by Justine Cassell, Joseph Sullivan, Scott Prevost, and Elizabeth Churchill. Cambridge, MA: MIT Press, April 3, 2000, pp. 64-94. ISBN: 9780262032780.
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15
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Student Presentations of Term Projects
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