Quantum mechanical model of emotional robot behaviors M. Lukac and M

Quantum mechanical model of emotional robot behaviors M. Lukac and M
Quantum mechanical model of emotional robot behaviors M. Lukac and M. Perkowski 19/09/2018

Overview Motivation Why Emotional Robots?
Emotional Models for Humanoid Robots Architecture of Cynthea Quantum Robotic Emotions CRL Language Quantum Command Rewriting

Emotional Humanoid Robots

Disclaimer: Definition of Emotion
We use, among other concepts, the quantum concepts to define and use emotions In our model emotions are formally defined, you can think about them as quantum states or quantum operators. Then, in this work there is no implication that our “emotions” are related to human emotions other than that we want to emulate human behavior by a humanoid robot. So what are robotic emotions?

First View: Emotion as synthesized behavior
Serchuk et al (2006) discuss emotion as mapping from internal state to observable output behavior. We want to design these mappings well, so that they wil be similar to humans Physical variables = positions, speeds, accelerations, words, Emotional state = state of all emotion variables

Wheel of emotions Active - Passive Positive - Negative
Internal representation of emotions by vectors in multi-dimensional space Mapping from internal to external representation of emotions

Second View: Emotion as emergent, evolvable behavior
Here emotion is an emergent behavior that arises from sensors, drives, effectors and logic. This may look like human, animal behavior but also as an entirely new “other world” behavior, behavior as it may be. Degrees of freedom Sensors, vision and fusion = features and patterns Evolved “emotional” behavior of robot Drives and effectors Main input-output mapping (perception, internal state, behavior) Precise motion generation (behavior)

Human Emotions Perceived by Robot
Robot perceives emotions of a human Emotional aspect of speech Text from speech recognition (I hate you example) Facial gestures Body language and hand upper body gestures. Camera with software Microphones with speech recognition/speech analysis system You do not need robot, this may be done by laptop with microphone and camera.

happiness (H) - surprise (U)
Robot perceives human mood From top to bottom, the continua shown in each row are… happiness (H) - surprise (U) surprise (U) - fear (F) fear (F) - sadness (S) sadness (S) - disgust (D) disgust (D) - anger (A) and anger (A) - happiness (H)

Why we need Robot-Generated Emotions?
Robot presents its emotions to a human Why we need it? Robot who helps elderly Assistive robot for disabled Robot that works with mentally challenged children (autism, Asperger Syndrome, ADD), Robot receptionist Robot barman Robot astronaut helper Robot museum guide Robot theatre (mostly in interactive theatres) Imitation of human emotions Interaction with human based on emotion Improvisation of theatrical plays, texts, stories Interpretation of human behavior in psychological terms, negotiation and cheating

Emotions in Humanoid Robots
Humanoid Robotics focuses on communication with humans that includes: Behavioral changes and emotional expressions, Emotional alterations of text-to-speech, Facial mimics and gestures, Overall body language (posture) and hand upper body gestures (hands, neck). Member postures and movements

Symmetry of emotion transmission
Robot reconstructs Human emotion Human emotion Robot perceives Human behavior Human behavior Robot creates its emotion Human perceives robot behavior and emotion Robot expresses its behavior Start with arrow - Human emotion affects human behavior Emotions as emergent behaviors Emotions as learned behaviors Two aspects – two approaches

Traditional and modern theories of emotion
Observable (traditional) emotions: emotional behaviors, moods, content changes (speech variations, etc) Modern Hypothesis: emotions and feelings are influencing decision making, problem solving, memory efficiency and so on.

Two level representation of the Cognitive-Emotional robot Structure
Flow of emotions Flow of actions

Emotional Parameters for control in Cynthea Robot
Device Parameters Other This slide shows which parameters are affected by which input and output devices

Quantum Mechanics to model emotions

Quantum Hierarchical Model of Emotions
Because the concept of emotional expression can be extended to a functional model; emotional expression affects the robot functioning. Here the concept of QFSM is extended to a Quantum Cellular Automata based on the quantum emotional state machine The quantum string rewriting is extended to a complete robot hierarchy rewriting schema

Quantum Mechanics to Model Emotions
The problem being considered here is the synthesis of logic controller allowing the robot to modify its actions and express unique emotional states The emotional expression is desired to be compelling the human user to communicate with the robot, the behaviors should be original and non-repeating Standard classical approaches can be compared to an FSM approach; the robot action space (behavioral space) is a finite set of states that the robot learns or just uses in a input driven mapping

Simulating emotions for practical applications
Simulating emotions as only observable behaviors is not sufficient to make emotional robots Definition: Emotional State Machine is a model of FSM that can modify its state and output independently of the content of the input, but based solely on its current state. Definition: Robotic Emotions are simulated emotional states allowing the robot to perform a given action in a way that satisfies it current emotional state. We propose a emotional model as computational process distributed across the robot software controller allowing to use emotions to modify all robot actions

Definition of Emotion Emotion is the result of measurements of a hybrid classical/quantum system In terms of quantum mechanics, emotions are represented by quantum states that we (observe) know only after measurement, but we can operate on them deterministically in the Hilbert space. Emotional evolution is represented by quantum operator (unitary and non-unitary, including the measurement)

The Quantum Emotion Robotics Project
Quantum Emotional Robots (see two papers ULSI, two papers ISMVL, two papers RM 2007) Emotional state machine CRL rewriting Hierarchical robot structure Hierarchical string rewriting Quantum Cellular Automata (ULSI) Learning (RM, ULSI 2005, ULSI 2006) Search (Grover) – ULSI 2007.

Concept: Emotional Quantum State Machine
Design a machine that will simulate the articulation of human social behavior: Subjective Non repetitive Innovative But still: Socially acceptable or not Behaviorally understandable Safe (the framework of this behavior is purely virtual – no contact)

Emotional Model Emotional Robot controller Robot actuators Robot sensors Robot controller Robot sensors Robot actuators Formal Language Each element in the robot is represented as Quantum Emotional State Machine (EQSM), such that on each level of robot control hierarchy the emotions can influence both the visible (perceptible) and the non-visible robot processes

Emotional Model Energy – simulated energy representing the emotional state of the robot Emotional State Energy Strategy – the translation function mapping the emotional state to a state parameters, (function dependent) Emotional State State Parameters The input command - represents the robot command such as one obtained from a sensor (user input, other robot), specified in the CRL language The emotional parameters translated to particular variables, are used to modify the global state of the robot and also the local function (Command rewriting) Emotional Parameters State of the robot

Schematic representation of the Emotional – Cognitive Module
The emotional recognizer affects the decision or cognitive process from the orthogonal point of view. The data flowing through the decision process (left to right) are processes altered by emotions. This can be seen as the Behavioral Level on every level of the functional processing.

Emotion processing robotic unit
Emotional units do not have inputs from the environment so they are not controllable directly They are “mysterious” (quantum) units that autonomously evolve states from states. Emotional Unit

Information Processing Unit with Feedback
Every module has internal feedback which allows to generate spontaneous actions (dreaming, being bored, generating spontanous actions to use new energies) This feedback comes from emotions

Schematic of Cynthea Emotional Model
The external loop represents the robot interaction with the environment The internal loop represents the robot’s self- interactive loop.

Four Scenarios to improve the Emotional State
The four different scenarios represents the improvement on the robot emotional state with respect to: 1. Completely following the command (execute as received), 2. Alter the description of the command but preserve the goal (rewrite the command so as the initial and final actions generate the desired action as specified by the input 3. Alter the final state of the command but keep the command almost unchanged on the language level 4. Alter the whole command so as both goal and the path are changed

Architecture of Cynthea

Cynthea, the Hierarchical robotic model
Emotional Subsumption architecture of the Cynthea head

Introduction: Definition of Emotion
Known Emotion is the result of measurements of a hybrid classical/quantum system Hidden Emotion is the quantum state of a quantum system, called emotional system In terms of quantum mechanics, emotions are represented by quantum states that we observe (i.e. know) only after measurement Since emotions are quantum states, we can operate on them deterministically in the Hilbert space. Emotional evolution is represented by quantum operator (unitary and non- unitary, including the measurement)

The components of our robot model
The sensor side of the robot

The components of our robot model
The actuator side of the robot Cynthea

Energy and Strategy to change emotional state

Modular view of the general robot architecture
Emotional state is a Kronecker matrix product (Tensor Product) of all emotional states in the hierarchy of modules. The construction of the emotions (as observed by the user) is made by observing global states of all emotional elements of the robot.

Energy Model in Our Approach
Robot wants to be in “Zen state” by maximizing its internal energy But the external world, or its own emotional modules of lower level push it away from the optimum Robot tries to control itself to return to the Zen state. but cannot do this because of the permanently changing dynamic system of its subsystems and environment. The model is based in two planes: Energy and Strategy. Energy represent the 'energy' of the system. Strategy are methods allowing the energy to modify the robot actions

Energy Model in Our Approach
This model ows to many models introduced by “early cyberneticists” and especially polish scientist Marian Mazur. But introduction of concepts of classical automata, machine learning and quantum computing is original.

Emotional Mapping in the Emotional State Space
Happiness The energy level maps onto four basic emotions: Anger, Happiness, Melancholy, Depression The circles are the energy level map. Emotional States can be represented as energy states modulated by two-dimensional Fear/Contentness The x-axis represents dS/dx and the y-axis is dS/d Contentness The strategy level is mapped onto two input dependent emotional states: Fear and contentness Emotional Mapping in the Strategy State Space

Emotional – Cognitive Module
Happiness Melancholy Anger Depression All four emotions coexist at the same time in every agent The strongest has the most important impact on the general behavior

Emotional State Machine
Deterministic classical physics/compute science world (Turing compatible) Measurement of the machine state Quantum memory Emotional evolution (operator) Quantum (Hilbert Space) (Quantum Turing Machine Compatible)

One Emotional Machine in the hierarchy
The top part (composed of the F block - transition function - and part of the memory register called state) represents the logic function used to interact with the environment and it commands robot’s autonomous behaviors. The bottom part including block Fe (emotion transition function and part of register states) is the emotional part not connected to the environment directly.

There are many state machines in every robot
From Finite State Machines to Emotional State Machines From Quantum Automata to Emotional Quantum Automata

Schematic Diagram of the Emotional Machine operation on single level
Emotional Model Energy Energy (t+1) estimate Emotional State Strategy Emotional state (t+1) emotions Rational behaviors Robot State Action The input command and the robot state are represented as energy changes, changing the emotional state. This induces modification of the strategy and alters the emotional parameters changing robot action. Input command Emotional component is designed as non-observable robot processes (implemented as quantum part in EQSM)

Emotional model The emotional state space is a mapping of the robot state and input command to the energy function. In other words the emotional mapping is estimating the optimal modification of the input command with respect to the goal (the input command) and with respect to the language allowing variations (rewriting) of this command The estimate of the cost of the execution of the command in language λ, this means the various ways how to describe the action in this language The estimate of the cost of the execution of the input command The problem can be reformulated with respect to machine learning concepts of exploration and exploitation. : Path Exploration – Goal Exploitation Path Exploration – Goal Exploration Path Exploitation – Goal Exploration Path Exploitation – Goal Exploitation

Example of Quantum State Machine with Entangled Outputs
sensors states A quantum behavior is specified in this case by measurement dependent manner. Because of entanglement the measurement of a single output value will collapse the other. The locality paradox of measurement determines the final global state or behavior.

Emotional control lazy
Encoded change of strategy Encoded change of energy This control is called lazy because the mood is changed to opposite Otherwise mood repeats change of energy This is a combinational function representing the mood No delay here , but our model takes delay into account

This represents change of Strategy
Language Actions for Emotional control easy fear This represents change of Strategy R – repeat command M – modify command I – identity D – delete command 00 00 r,m,i r,m, i 01 11 m,d r,m,d 10 01 m,d m,d 11 11 r,m,d r,m,d Columns 3 and 4 represent the language actions on the input string command. Assume: two word language, such as all possibilities are shown as min-terms under , and the emotional state is represented as the state variable c Behavior called easy fear – the robot does change the input string in all but in the case. The robot is easily forced to do some emotional changes (columns 1 and 2)

Energy changes as a function of actions executed on the language (hierarchical)
The strategy changes to the language are represented by four allowable operations. Rules specifying the language operations (Identity, Repeat, modify and Delete) and their representation in the energy changes. Like everything in our model, rewriting can be deterministic, probabilistic or quantum (entangled)

Goal and Language Effect
The model is built up around notion of language specifying commands to the robot. Emotions, rewrite this language and thus inserts changes in the robot actions. The language allows to explore environment by reformulating commands or inputs. The language introduces two concepts: goal and path. The goal is the final state of the robot after a given command has been executed. The path is the sequence of commands the robot processed in order to achieve the final state.

Emotional – States/Moods
Robot energy is lower than optimum Trend is based on inputs Change of Emotional States as function of Energy level, energy gradient and trend Change of energy over time

Common Robotic Language (CRL)

CRL Common robotic language (CRL): XML based
Hierarchical functional description of the robot CRL represents the structure of the robot as well as the data flow Robot is described as a hierarchy of modules Each module is described by the level at which it is in the hierarchy; i.e. the language that it accepts. (module head will accept different alphabet than module speech synthesizer) – the robot is a hierarchy of FSMs that communicate with CRL

From CRL scripts to Emotional Behaviors
<robot><mouth><speech> Hello </speech></mouth></robot> Robot: speaks “Hello” <robot><eyes><move> </move></eyes></robot> Robot: eyes move to “10 35” CRL rewriting rules: Identity, modify, replicate, delete Question is: “how to apply rules in order to above defined requirements for social behavior”

Hierarchy of the Emotional Robot: Language description
The robot is a set of functional modules, organized in a hierarchical tree that can be also observed in the structure of the control language of the robot. Input Command robot Robot Components eyebrows eyes mouth neck Components commands move, open close, etc move, open close, etc move, open close, etc move, open close, etc Components Hardware Command Execution

Code 1: AIML dialog as a part of CRL

Code 2: AIML example demonstrating use of recursion in dialog
AIML to behavior, not only AIML input text to output text Robot can convert music to servo control directly, whether it has meaning or not But there is servo protection from self-destruction.

Code 3: AIML dialog using the so-called “final definition”
Final definition means that the string is protected from further rewriting

Code 4: AIML Input reduction –preprocessing of speech recognition
can be any string

Code 5: CRL for robot smiling hierarchy – maximum depth is four
Hierarchy can be used to generate a variety of smiles corresponding to emotions, text and environment

Code 6: CRL example with synchronization and other features
Motion generation synchronization waiting speech

Code 7: Multi-robot script in CRL demonstrating two robots starting to act simultaneously
First robot Second robot

Code 8: How to define a robot with new physical structure – define ranges of devices and macros
Motion restriction for safety and physical characteristics Motion restriction for emotion representation

Code 9: Structure of hierarchical descriptions in CRL
General structure of Robot Descriptions in CRL

CRL and Term Rewriting

How Emotional Quantum SM processes strings?
Input CRL word Mark it with appropriate state marker of energy (represent the new state of the robot [state+command] as energy) Modify the emotional state and conditionally flip the data bit Use the current phase to alter the control/classical state of the Machine Use the control state to alter the language on the local level Measure / Observe the language and the Classical state.

Example of Deterministic Rewriting
Language objects that changes eye-related behaviour to mouth-related behaviour

Generalizing the eye command to eye-mouth repeated command

Transformations Models in Our Approach
Multi-level rewriting of eye command to mouth command where the command changes too but the command parameters (like speed or position or acceleration) do not change

Example of hierarchical rewriting
Initial command: <robot><eyes><move>10 45 </move></eyes></robot> At each level apply the emotional transforms: Level robot I, M, R, D robot <eyes><speed>10 45 </move></speed> or <neck><move>10 45 </move></neck> <neck><move>80 3 </move></neck> eyes move 10 45

Example of hierarchical rewriting
Level eyes <speed>10 45 </speed> or <move>10 45 </move> <move>80 3 </move> robot I, M, R, D eyes move 10 45 Level move I, M, R, D I, M, R, D Command Parameters changes Command Parameter Level Changes on the level of execution such as timing.

Evaluation of a humanoid Behavioral Robot
The human-robotic interface (all observable expression) and the Robot-Robot interface (Ethernet port where all states and robot activity is recorded) Humans evaluate how believable are robot emotions

Evaluation methods for the robot
The 8-robot game Each robot is facing outside Each robot has visual and sensory inputs allowing to cover about 90 degree. Interferences between robots can be easily observed and analyzed. Robots communicate with public and themselves. Which will attract most visitors?

Evaluation methods for the robot
Turing test – is the robot autonomous or human-controlled?

Conclusion We introduced a new architecture for humanoid emotional robot Cynthea: Emotional behavior as the set of not directly controllable robotic actions The concept of Emotional Quantum Finite State Machine The concept of hierarchical emotional quantum automata Common Robotic Language for groups of humanoid robots. String rewriting: deterministic, probabilistic, quantum for emotional altering of behaviors on many levels of hierarchy Videos on Lukac and Perkowski’s WWW.

Additional Slides

Sensor Architecture

Video Sensor - features

The generic sensor module
There are thee types of sensors in our robot model

Vision Sensor The Vision Sensor in this case has two cameras, each assigned to one task as shown Each operation on each signal is executed without the influence of the emotional component. Then the output of the transforms is altered by the emotion and finally a set of features is generated on the output

The Audio Sensor The audio Sensor has one or two microphones, each assigned to one task only. In this case with two microphones the robot runs only two tasks at the same time, the selection depends on its mode and behavior The Music Analysis process can be used internally and does not require live music recording (music is played from recorded music files encoded in the mp3 format).

The Audio Sensor

Voltage/Power Sensor The power sensor has one single input, one per measurement line. The outputs are features indicating the energy consumption measurement reflecting the energy evolution over time (differentials).

The Power Consumption Sensor

The Power/Energy Sensor

Actuator Architecture

The Generic Actuator Schema

Representation for devices and modules

The Network Senso-Motor Interface

The Speech Actuator Schema
Keep as backup

Hierarchy of control modules in Cynthea Robot

The Command Hierarchy Structure

Example of tree command structure for a simple robot

Servo Motor Positions and Ranges

Comparison of our model to existing models of emotional behaviors

Schema representing two main information flows in the brain
In a robot there are two layers – this is introduction to subsumption architecture

Schematic representation of the inside of the “simple reflex” box
This is bottom box

Schematic Representation of the inside of the “Cognitive” box
This is upper box

Simple Emotional Model: Global function over all components of the whole system
All components are subject to quantum emotions. Emotions are generated on the lowest level of the robot.

Kismet emotional model: Emotional States, Arousal, Valence and Stance
Model of emotion that is based on human psychology to which Kismet was to be matched The difference to our approach is that we have no predefined behaviors – the behaviors are emergent as functions of module interactions. This model generalizes Quantum BV and QAR

Wamoeba Emotional Model: Hormonal influence on the actuators and outputs
Wamoeba has four emotions programmed in a look up table Discrete states of the devices specify changes in the emotional state represented by four emotional variables/drives. Happiness Fear

Schema of classic functional approach to robotics
FTRS – Filtering and perception of environment PLN – planning of action PRDC – procedural execution of actions

Functional versus Behavioral approaches to robotics

Subsumption Architecture based on behavioral constraints
We create here a new architecture for a robot. Therefore we compare our architecture with Subsumption and Classical Perception_planning-Action models

Hierarchical Behavioral Model of Implementing Emotions in a Robot (Hierarchical Emotion Model)
The emotional model based on the fact that emotion is first present on the lowest level (but not being categorized as emotion) And then emotion emerges (as emotional behavior) on the higher/observable level

The Energy Function

Structure of doubly connected machine
Conceptually the robot controller can be represented as a double interconnected structure: Hierarchical String Command C C C C M M M M E E E E Emotional quantum state command (not user accessible) Measurement

Quantum computing Basics
In quantum computing the system (circuit) is represented in the form of a wave: The space of the system is complex Hilbert space H of dimension N. The basis states are orthonormal, for boolean logic: The operations on the system are in the form of Unitary matrices being rotations of the state vectors in the space H: To retrieve the result the system has to be observed or measured. Measurement is an outside operation on the system, and destroys the quantum state. This operation projects the system onto real basis states such as defined above. Because the measurement is completely random, the information is extracted from the collapsed state that has the form of:

Quantum computing Basics (contd.)
Special phenomena can be observed in quantum: The system can be in superposition (being in all states at the same time) The system can be entangled, the outcome of the whole system or of its subparts is dependent on the measured output qubit(s). Despite the fact that before measurement both qubits have the probability of 0.5 of being in state 0 or 1, after one of the qubit is measured the state of the second one is instantaneously determined

Motivations (contd.) Simulating emotions as only certain behaviors and observable actions is not sufficient to design believable emotional robots Definition: Emotional State Machine is a model of FSM that can modify its state and output independently of the content of the input, but based solely on its current state. Definition: Robotic Emotions are simulated emotional states allowing it the robot to perform a given action in a way that satisfies it current emotional state. THIS DEFINITION MAKES NO SENSE? ENGLISH! We propose a emotional model as computational process distributed across the robot software controller allowing to use simulated WHAT ARE THEY? emotions to modify all robot actions

Emotional Quantum Automata
A network of Emotional State Machines is called an Emotional Quantum Automata (plural - per similarity to Cellular Automata) This network can be regular or not. If regular, it can be: One-dimensional and one-directional (pipelined) One-dimensional (like one-dimensional cellular automata) Two-dimensional (like Game of Life and Two-Dimensional cellular Automata of Wolfram) more dimensional. Emotional Quantum Automaton is therefore a generalization of Cellular Automata, Random Boolean Networks and Quantum Cellular Automata Example of one- dimensional and one- directional

Analysis and synthesis problems for Emotional Quantum Automata
This architecture connects all cognitive parts into a serial pipeline-like structure while the emotional layer is not connected to any inputs and neighbors. The synthesis of quantum emotional behavior is then to find quantum logic circuits that would create a desirable behavior

EQFA – Emotional Quantum State Machine
Boolean function Measurement State Register Quantum state transition function

Schematic Diagram of the Emotional Machine
Schematic diagram of the two level emotional model. The input command and the robot state are represented as energy changes, changing the emotional state. This induces modification of the strategy and alters the emotional parameters changing robot action.

Introduction: FSM Classical FSM – a logic block and a memory block
Logic can be binary or Fuzzy Logic can be quantum Memory is classical since the output of logic is measured All robot toys and most robots use this model Sometimes the logic is learned from examples

Our Main New Idea: Two Layer Action-Emotion FSM Model
Emotions are not something “additional” to rational thinking and acting Emotions are intimately interwined in every process of a robot on any level of hierarchy Instead of a hierarchy of state machines we have a hierarchy of Emotional State Machines Simplified model of Emotional State Machine

Main Components of the Complete Robot Schema

Two Main Classes of Commands
Two Main classses of commands also represent the structure of the robot. Direct commands go straight to processing by the devices, while the indirect commands require either command preprocessing or the integration of external processes.

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