Theory of Mind for Robots
Kyung-Joong Kim
Sep 9th 2013
Theory of Mind
Robotic Theory of Mind
Prediction
Hypothesis 1
Hypothesis 2
…
Actor:
Mental Model
Observer:
Mindreading
Hypothesis N
Hypothesis Test
Robotic Theory of Mind Platform
Applications
Robotic Theory of Mind
?
Prediction
Hypothesis 1
Hypothesis 2
…
Actor:
Mental Model
Observer:
Mindreading
Hypothesis N
Hypothesis Test
Robotic Theory of Mind Platform
Applications
A Black Box
?
Estimation-Exploration Cycle
Estimation
Exploration
Initial Probing
Estimation
?
?
?
?
?
What’s the Next Probing?
Best Point to Clarify the Confusion?
Actor Robot
A Virtual Robot
Wheel
IR Sensor
Neuron
Topology of Artificial Neural
Network
Light1
Light2
Steering Angle
Velocity
For Example …
-0.509588
-0.385503
-0.104083
0.172043
0.238755
Observer Robot
Estimation-Exploration Algorithm
Estimation
(N times)
A New Trajectory
Actor
Exploration
A Probing Point
Problem #1
• Observer knows that Actor’s NN has
– # of input neurons
– # of output neurons
– Topology
• Hidden neurons, layers, and connections
• Black box
– Connection weight
-0.509588
-0.385503
-0.104083
0.172043
0.238755
Problem #1
90000
80000
70000
Error
60000
50000
7912 ± 1913
40000
30000
20000
10000
0
1
2
3
4
5
6
Cycle
7
8
9
10
11
Problem #2
• Observer knows that Actor’s NN has
– # of input neurons
– # of output neurons
• Black box
– Topology
• Hidden neurons, layers, and connections
– Connection weight
?
Problem #2
90000
80000
70000
60000
Error
50000
12772 ± 3482
40000
30000
20000
10000
0
1
2
3
4
5
6
Cycle
7
8
9
10
11
Future Works
IR Light
Markers
E-Puck