{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/112522"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/112522","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Bidirectional gaze guiding and indexing in human-robot interaction through a situated architecture","abstract":"In this body of work, I present a situated and interactive agent perception system that can index into its world and, through a bidirectional exchange of referential gesture, direct its internal indexing system toward both well-known objects as well as simple visuo-spatial indexing in the world. The architecture presented incorporates a novel method for synthetic human-robot joint attention, an internal and automatic crowdsourcing system that provides opportunistic and lifelong robotic socio-visual learning, supports the bidirectional process of following referential behavior; and generates referential behavior useful for directing the gaze of human peers. This document critically probes questions in human-robot interaction around our understanding of gaze manipulation and memory imprinting on human partners in similar architectures and makes recommendations that may improve human-robot peer-to-peer learning.","abstract_html":"In this body of work, I present a situated and interactive agent perception system that can index into its world and, through a bidirectional exchange of referential gesture, direct its internal indexing system toward both well-known objects as well as simple visuo-spatial indexing in the world. The architecture presented incorporates a novel method for synthetic human-robot joint attention, an internal and automatic crowdsourcing system that provides opportunistic and lifelong robotic socio-visual learning, supports the bidirectional process of following referential behavior; and generates referential behavior useful for directing the gaze of human peers. 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