Special Topics in Media Technology: Cooperative Ma

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Abstract/Syllabus

Courseware/Lectures

Test/Tutorials

Special Topics in Media Technology: Cooperative Machines

Fall 2003

The robot Leo. (Image courtesy Andrea Lockerd and Guy Hoffman.)

Course Highlights

This class includes a complete set of lecture notes, which consist of critiques of the week's readings by the students. A sampling of the final projects is also included.

Course Description

This course examines the issues, principles, and challenges toward building machines that cooperate with humans and with other machines. Philosophical, scientific, and theoretical insights into this subject will be covered, as well as how these ideas are manifest in both natural and artificial systems (e.g. software agents and robots).

Special Features

Student projects

Technical Requirements

RealOne™ Player software is required to run the .rm files found on this course site.

*Some translations represent previous versions of courses.

Syllabus

Grading

ACTIVITIES	PERCENTAGES
Summaries/Critiques	25%
Class Participation/Presentations	25%
Term Project/Paper	50%

Weekly Readings

Two components: summary and critique.
One page per reading maximum.
Due at noon, Tuesday before each class.

Student Presentation of Readings

Presentation assignments are made by Friday of each week for the following Wednesday.
30 minutes of presentation followed by 30 minutes of discussion per paper.
Student presentations should include summary of work, critique, and connections to other relevant literature. The presenter is expected to include material from papers outside of those assigned by the class reading list, such as looking up key papers from the cited references.

Term Project

Analytical paper with original perspectives on literature, OR build and evaluate computational model, and connect to literature.
Proposals due in Week 9.
Final project presentations and conference style paper (8 pages max) due in Week 13.

Calendar

WEEK #	TOPICS
1	Introduction to Course
2	Philosophy
3	Development of Theory of Mind
4	Models of Theory of Mind
5	Reading Behavior, Reading Minds: Primates
6	Reading Behavior, Reading Minds: Children
7	Toward Machines with ToM
8	Joint Intention and Action
9	Teamwork
10	Robot Teams
11	Collaborative Discourse Theory
12	Task-oriented Dialogs
13	Collaborative Learning
14	Systems: Human Machine Collaboration
15	Student Presentations of Term Projects

Readings

WEEK #	TOPICS	READINGS
1	Introduction to Course
2	Philosophy	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.
3	Development of Theory of Mind	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.
4	Models of Theory of Mind	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.
5	Reading Behavior, Reading Minds: Primates	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.
6	Reading Behavior, Reading Minds: Children	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.
7	Toward Machines with ToM	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.
8	Joint Intention and Action	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.
9	Teamwork	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.
10	Robot Teams	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.
11	Collaborative Discourse Theory	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.
12	Task-oriented Dialogs	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.
13	Collaborative Learning	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.
14	Systems: Human Machine Collaboration	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.
15	Student Presentations of Term Projects