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De la reconnaissance des expressions faciales à une perception visuelle partagée : une architecture sensori-motrice pour amorcer un référencement social d'objets, de lieux ou de comportements

Abstract : My thesis focuses on the emotional interaction in autonomous robotics. The robot must be able to act and react in a natural environment and cope with unpredictable pertubations. It is necessary that the robot can acquire a behavioral autonomy, that is to say the ability to learn and adapt on line. In particular, we propose to study what are the mechanisms to introduce so that the robot has the ability to perceive objects in the environment and in addition they can be shared by an experimenter. The problem is to teach the robot to prefer certain objects and avoid other objects. The solution can be found in psychology in the social referencing. This ability allows to associate a value to an object through emotional interaction with a human partner. In this context, our problem is how a robot can autonomously learn to recognize facial expressions of a human partner and then use them to give a emotional valence to objects and allow their discrimination. We focus on understanding how emotional interaction with a partner can bootstrap behavior of increasing complexity such as social referencing. Our idea is that social referencing as well as the recognition of facial expressions can emerge from a sensorimotor architecture. We support the idea that social referencing may be initiated by a simple cascade of sensorimotor architectures which are not dedicated to social interactions. My thesis underlines several topics that have a common denominator: social interaction. We first propose an architecture which is able to learn to recognize facial expressions through an imitation game between an expressive head and an experimenter. The robotic head would begin by learning five prototypical facial expressions. Then, we propose an architecture which can reproduce facial expressions and their different levels of intensity. The robotic head can reproduce expressive more advanced for instance joy mixed with anger. We also show that the face detection can emerge from this emotional interaction thanks to an implicit rhythm that is created between human partner and robot. Finally, we propose a model sensorimotor having the ability to achieve social referencing. Three situations have been tested: 1) a robotic arm is able to catch and avoid objects as emotional interaction from the human partner. 2) a mobile robot is able to reach or avoid certain areas of its environment. 3) an expressive head can orient its gaze in the same direction as humans and addition to associate emotional values to objects according tothe facial expressions of experimenter. We show that a developmental sequence can merge from emotional interaction and that social referencing can be explained a sensorimotor level without needing to use a model theory mind.
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Submitted on : Thursday, January 26, 2012 - 2:09:52 PM
Last modification on : Friday, August 5, 2022 - 2:46:00 PM
Long-term archiving on: : Friday, April 27, 2012 - 2:34:11 AM


  • HAL Id : tel-00660120, version 2


Sofiane Boucenna. De la reconnaissance des expressions faciales à une perception visuelle partagée : une architecture sensori-motrice pour amorcer un référencement social d'objets, de lieux ou de comportements. Informatique. Université de Cergy Pontoise, 2011. Français. ⟨NNT : ⟩. ⟨tel-00660120v2⟩



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