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Socially Guided Machine Learning by Andrea Lockerd Thomaz B.S.,UniversityofTexas,Austin(1999) S.M.,MassachusettsInstituteofTechnology(2002) SubmittedtothePrograminMediaArtsandSciences, SchoolofArchitectureandPlanning inpartialfulfillmentoftherequirementsforthedegreeof DoctorofPhilosophyinMediaArtsandSciences atthe MASSACHUSETTSINSTITUTEOFTECHNOLOGY May2006 ©MassachusettsInstituteofTechnology2006. Allrightsreserved. Author...................................................................... PrograminMediaArtsandSciences May5,2006 Certifiedby................................................................. CynthiaBreazeal AssociateProfessorofMediaArts&Sciences ThesisSupervisor Acceptedby ................................................................ AndrewLippman Chairman,DepartmentCommitteeonGraduateStudents 2 Socially Guided Machine Learning by Andrea Lockerd Thomaz B.S.,UniversityofTexas,Austin(1999) S.M.,MassachusettsInstituteofTechnology(2002) SubmittedtothePrograminMediaArtsandSciences, SchoolofArchitectureandPlanning inpartialfulfillmentoftherequirementsforthedegreeof DoctorofPhilosophyinMediaArtsandSciences atthe MASSACHUSETTSINSTITUTEOFTECHNOLOGY May2006 ©MassachusettsInstituteofTechnology2006. Allrightsreserved. Certifiedby................................................................. AndrewG.Barto ProfessorofComputerScience UniversityofMassachusetts,Amherst ThesisReader 4 Socially Guided Machine Learning by Andrea Lockerd Thomaz B.S.,UniversityofTexas,Austin(1999) S.M.,MassachusettsInstituteofTechnology(2002) SubmittedtothePrograminMediaArtsandSciences, SchoolofArchitectureandPlanning inpartialfulfillmentoftherequirementsforthedegreeof DoctorofPhilosophyinMediaArtsandSciences atthe MASSACHUSETTSINSTITUTEOFTECHNOLOGY May2006 ©MassachusettsInstituteofTechnology2006. Allrightsreserved. Certifiedby................................................................. RosalindPicard ProfessorofMediaArts&Sciences MassachusettsInstituteofTechnology ThesisReader 6 SociallyGuidedMachineLearning by AndreaLockerdThomaz SubmittedtothePrograminMediaArtsandSciences onMay5,2006,inpartialfulfillmentofthe requirementsforthedegreeof DoctorofPhilosophyinMediaArtsandSciences Abstract Social interaction will be key to enabling robots and machines in general to learn new tasksfromordinarypeople(notexpertsinroboticsormachinelearning).Everydaypeo- plewhoneedtoteachtheirmachinesnewthingswillfinditnaturalfortorelyontheir interpersonal interaction skills. This thesis provides several contributions towards the understandingofthisSociallyGuidedMachineLearningscenario. Whilethetopicofhumaninputtomachinelearningalgorithmshasbeenexploredto someextent,priorworkshavenotgonefarenoughtounderstandwhatpeoplewilltryto communicatewhenteachingamachineandhowalgorithmsandlearningsystemscan bemodifiedtobetteraccommodateahumanpartner. Interfacetechniqueshavebeen basedonintuitionandassumptionsratherthangroundedinhumanbehavior,andoften techniquesarenotdemonstratedorevaluatedwitheverydaypeople. Usingacomputergame,Sophie’sKitchen,anexperimentwithhumansubjectspro- videsseveralinsightsabouthowpeopleapproachthetaskofteachingamachine.Inpar- ticular,peoplewanttodirectandguideanagent’sexplorationprocess,theyquicklyuse thebehavioroftheagenttoinferamentalmodelofthelearningprocess,andtheyutilize positiveandnegativefeedbackinasymmetricways.Usingaroboticplatform,Leonardo, and200peopleinfollow-upstudiesofmodifiedversionsoftheSophie’sKitchengame, fourresearchthemesaredeveloped. Theuseofhumanguidanceinamachinelearningexplorationcanbesuccessfullyin- corporatedtoimprovelearningperformance. Novellearningapproachesdemonstrate aspectsofgoal-orientedlearning.Thetransparencyofthemachinelearnercanhavesig- nificanteffectsonthenatureoftheinstructionreceivedfromthehumanteacher,which inturnpositivelyimpactsthelearningprocess. Utilizingasymmetric interpretationsof positiveandnegativefeedbackfromahumanpartner,canresultinamoreefficientand robustlearningexperience. ThesisSupervisor: CynthiaBreazeal Title: AssociateProfessorofMediaArts&Sciences 7 8 Acknowledgments As my thesis is about the social structure of learning environments, it seems very nat- uraltostartbyrecognizingtheamazingandsupportiveenvironmentthatIhavefound myselfinoverthepastseveralyears. First,CynthiaBreazeal,forbeingagreatadvisor,andforhercontagiousenthusiasm andintensity. HerworkandhervisionofthefuturearetrulygroundbreakingandIam gratefultoherfornotonlyhavinggivenmetheopportunitytobeapartofit,buthaving wholeheartedlysupportedmyblossomingresearchagendaeverystepoftheway. InmyyearsattheMediaLab,RozPicardhasbeenasincerelypositivepresence,asa researcher, ateacherandaperson. Herexcitementandcuriosityinherresearchques- tions,andherprioritiesinworkandlifeareaninspirationandamodel. It is great to have had the opportunity to work with Andy Barto. His open-minded view of the Machine Learning field has made for some inspiring discussions, and his supportofanewcomerwithadifferentperspectiveisveryencouraging. TheRoboticLifeGrouphasbeenagreatenvironmentandawonderfulgroupofpeo- pletoworkwithoverthelastfewyears,especiallyeveryoneworkingonLeonardo. Spe- cialthankstoJeffLiebermanandDanStiehlwhohave,atcriticalmoments,giventheir timefreely;Leothanksyou! ToeveryoneintheLeobehaviorsystemranks: MattBerlin, ZozBrooks,JesseGray,andGuyHoffman. It’strulyapleasuretoworkwithpeoplewho reallyloveandbelieveinwhattheydo. It’sbeenalotofwork, butawholelotoffunto workwithyouall. The Media Lab has been an incredible environment, full of excitement and oppor- tunity. I would like to thank my first advisor, Ted Selker, for introducing me to the lab and continuing to be a positive and creative influence. Thanks also to all the faculty whohavehadanimpactonmyresearchindirectandindirectways: HenryLieberman, PatrickWinston,JohnMaeda,BruceBlumberg,PattieMaes,DebRoy,GloriannaDaven- port. Thanks in particular to Mitch Resnik for being on my general exams committee andhelpingtointroducemetothefieldofSituatedLearning. Thanksespeciallytomyparentsandmybrothers,whohavealwaysbelievedinme, andtheirencouragementandsupporthasshapedthepersonthatIamtodayincount- lessways. Andaspecialthankstomywonderfulhusband,EdisonThomaz. Icouldnot havemadeitthroughallofthehardworkinthelastfewyearswithouthisloveandsup- port. 9 10

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And a special thanks to my wonderful husband, Edison Thomaz. I could not have made it through all of the hard work in the last few years without his
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And a special thanks to my wonderful husband, Edison Thomaz. I could not have made it through all of the hard work in the last few years without his

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